Robotic system and methods of use

ABSTRACT

A robotic system that can have a body and four flippers is described. Any or all of the flippers can be rotated. The flippers can have self-cleaning tracks. The tracks can be driven or passive. The robotic system can be controlled by and send audio and/or video to and/or from, a remote operator control module. The methods of using and making the robotic system are also described.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No,13/407,679, filed 28 Feb. 2012, which is a continuation of U.S. patentapplication Ser. No. 13/233,994, filed 15 Sep. 2011, which issued asU.S. Pat. No. 8,397,842, and which is a divisional of U.S. patentapplication Ser. No. 12/755,293, filed 6 Apr. 2010, which issued as U.S.Pat. No. 8,157,032 on 17 Apr. 2012, and which is a continuation of U.S.patent application Ser. No. 12/755,264, filed 6 Apr. 2010, which issuedas U.S. Pat. No. 8,100,205 on 24 Jan. 2012, the contents of which areincorporated by reference herewith in their entireties.

BACKGROUND

1. Technical Field

This invention relates generally to the robotics field, and morespecifically to a new and useful robotic system in the robotics field.

2. Summary of the Art

Ground-based remote-controlled robotic systems exist for a number ofpurposes. Unmanned Ground Vehicles (UGV), such as Soldier UGVs (SUGVs)are small, remotely controlled robotic systems, often purposed formilitary use. The UGVs can provide remote surveillance images and sensedinformation. UGVs can be tele-operated in an area local to a controllingdismounted soldier, and be transported to the operational area withdismounted soldiers as stowage. The UGVs operate in rural and urbanterrain, and often are needed to climb stairs, pass through doorways,operation in subterranean structures, and traverse rubble or otherobstacles.

Domestic police, including Special Weapons and Tactics (SWAT) Teams, useUGVs for domestic policing, including performing “hard clears” or otherhigh risk actions when human health or life might be at stake.

Remote control (RC) vehicles are also used for civilian entertainment,such as remote control hobbyist cars and tanks. Such vehicles are ofteninsufficiently robust for purposes other than racing or entertainment,and rarely have tooling or payloads to accomplish task other thanmobility.

Industrial robots are used to access hazardous or cramped areas forindustrial purposes or scientific research. For example,remote-controlled industrial robots can be used to access and work inareas with extreme pressures, temperatures, radioactive radiation, highvoltage, toxic gasses or a lack of breathable air.

All of the aforementioned robotic systems desire improved performancecharacteristics, for example more stabilized mobility, self-cleaningtracks, increased torque delivery to the ground, reliable control anddata collection/transmission, and dimensionally small packaging fortransport despite a potentially larger area occupied during mobility ofthe robot.

SUMMARY OF THE INVENTION

A robotic system and method of using the same are disclosed. The roboticsystem can have one or more tracks that are driven by track drivepulleys. The track pulleys can be driven by a motor. The robotic systemcan have track guides, track pulley caps, and flipper pulley caps. Therobotic system can have sideplates that are larger (i.e., can extendfurther) than the track inner diameter and the inner nubs on the tracks.

The tracks can be flexible with or without reinforcing cabling. Thetrack, can be fed over the track drive pulleys. o The track canresiliently expand and/or the pulley can resiliently contract whendebris is introduced to the space between the track and the drivepulley. This can squeeze larger debris out of the track. Smaller debriscan be carried through the track until the debris reaches the top (orbottom, depending on the direction of the pulley) of the drive pulley,causing the debris to fall out of the space between the track and thepulley and return to the environment. In the case that larger debriscannot be squeezed out from between the track and pulley, the flexiblepulley can deform and pass the debris through the space between thetrack and pulley, and then dump or release the debris when the debrisreaches the top (or bottom, depending on the direction of the pulley) ofthe pulley.

The track and/or pulley can instead or in addition be rollers.

The sideplates and the pulley end Caps can retain the track laterally,for example when the trapped debris causes the track to expand to theextent that the track would pop off of the pulley when turning indebris. The lateral ribs on the drive pulley can be long enough toengage the track either directly, or though a layer of debris. The trackcan not dislodge from the pulley or rollers, for example even whenperforming a zero turning radius maneuver under heavy load, in a dirty,debris-filled environment. The amount of allowable track expansion(stretching with debris) can be related to the extent to which the endcaps and side plates extend beyond the inner diameter of the track asthe track rotates around the drive pulleys and rollers, and to theprotrusion distance of the drive pulley rib relative to the outerdiameter of the drive pulley.

A robotic system that can have a self-cleaning track drive system isdisclosed. The system can have a body, and the track drive systemconfigured to move the body. The track drive system can have a onepulley and a track. The pulley can be configured to form at least onepocket between the inner track surface and the outer pulley surface whena foreign object is introduced between the pulley and the track, andwherein the foreign object has a maximum width of greater than about 0.2cm.

The pulley can have a first radial rib, a second radial rib, and anouter wall. The first length of the outer wall can span between thefirst radial rib and the second radial rib. The first length of theouter wall can be configured to deform when the foreign object isbetween the first length and the track.

The track can have a modulus of elasticity from about 2,400 to about5,600. The pulley can have a radial inner portion and a radially outerportion. The radially outer portion can be configured to deform at agreater rate than the radially inner portion when a force is applied toan outside radial surface of the pulley.

The pulley can have one, two or more support structures. The supportstructure can have a structural cell having two angular walls and tworadial walls. The pulley can have an axis of rotation and a radiallyouter surface. The support structure can be between the axis of rotationand the radially outer surface of the pulley. At least one portion ofthe support structure can be configured to deform when a force isapplied, to the outside of the pulley, for example creating a pocket onthe outside of the pulley where the force is applied. The supportstructure can have a first outer angular wall, a second angular wall,and a third inner angular wall. The second angular wall can be radiallybeyond the third inner angular wall. The second angular wall can beradially within the first outer angular wall

The pulley can have a radially outer wall (e.g., an “angular” wallforming a 360° rotation around the axis of rotation). At least oneportion of the radially outer wall can be configured to deform when aforce is applied to the outside of the pulley, for example, forming apocket on the outside of the pulley where the force is applied.

The pulley and the track can be configured so that a foreign objectintroduced between the pulley and the track is ejected by the forceresulting from the resiliency of the pulley and the track. The pulleyand the track can be configured so that a foreign object introducedbetween the pulley and the track can travel within the pocket betweenthe pulley and the track around the circumference until the track andpulley diverge.

A method of using a robotic vehicle system comprising a chassis and atrack drive system comprising a pulley and a track, is disclosed. Themethod can include driving the track with the pulley. The method caninclude receiving a piece of material between the track and the pulley.The piece of material can be a loose piece of debris, for example,unattached to the track or the pulley. The piece of material can have amaximum width of greater than about 0.2 cm. The method can includemoving the piece of material around the pulley to the location at whichthe track separates from the pulley. The method can include releasingthe piece of material from between the track and the pulley.

The method of moving can include holding the piece of material betweenthe track and the pulley. The method of holding can include resilientlydeforming the track away from the pulley and against the piece ofmaterial. The method of receiving can include resiliently deforming thepulley. The pulley can include a first cell and a second cell adjacentto the first cell. The first cell can be resiliently deformed away fromthe track and against the piece of material. The second cell can beundeformed.

A robotic vehicle system that can have a body and a track drive systemis disclosed. The track drive system can be configured to move the body.The track drive system can have a pulley, a pulley cap, and a track. Thepulley cap can be attached to a side of the pulley facing away from thebody. The diameter of the pulley cap can be equal to or greater than thediameter of the pulley.

The pulley cap can have a diameter less than the outer diameter of thetrack When the track is on the pulley. The pulley cap can have a trackinterface. The track. can have a pulley cap interface. The trackinterface can be configured to releasably engage the pulley capinterface. The pulley cap interface can have a nub extending from theinside of the track. The track interface can have a radial vane. Thetrack can have a first retention element (e.g. inside nubs) extendingfrom the inside surface of the track on a first lateral side of thetrack. The track can have a second retention element extending from theinside surface of the track on a second lateral side of the track.

A robotic vehicle system that can have a body and a track drive systemconfigured to move the body is disclosed. The track drive system canhave at least one pulley, a track, and a pulley cap/The track can have afirst inner nub on at least one lateral side. The inner nub can be matedto an inner edge of the pulley cap. The inner nub can retains the trackon the pulley. The body can retain the outside edge of the track on thepulley. The track can have a second inner nub on a second lateral side.

The system can have a track guide or retention structure on the body.The track guide structure can be mated to the outside edge of the secondinner nub on the second lateral side. The track guide or retentionstructure can include vanes on the inside of the pulley. For example, asecond wheel cap can be on the chassis-side of the flipper or mobilitydevice pulley, for example, to help keep the track guided.

The track can have a pocket along the inside surface of the track. Thepulley can have one or more grooves, nubs or lateral rails extendingradially outwardly from the pulley. The nubs or rails of the pulleys caninterface with the pockets (e.g., depressions), for example, enablingthe pulley to drive the track.

A robotic vehicle system that can have one or more torque-limited safetycoupling for unfixing and rotating the mobility assistance devices orflippers with the chassis is disclosed. The robotic vehicle system canhave a chassis, a mobility assistance component configured to propel therobotic vehicle system; and a release coupling. The release coupling canattach the chassis to the mobility assistance component. The mobilityassistance component can be contractable with respect to the chassiswhen the release coupling is activated.

The release coupling can be configured to be activated by at least abouta 45 Nm torque or at least about a 100 Nm torque applied to the mobilityassistance device. The mobility assistance component can be rotatablycontractable and rotatably expandable with respect to the chassis whenthe release coupling is activated.

The system can have a motor and a track on the mobility assistancecomponent. The motor can be configured to drive the track around themobility assistance component.

A method for using a robotic vehicle system comprising a chassis, amobility assistance component, and a release coupling attaching thechassis to the mobility assistance component, is disclosed. The methodcan include activating the release coupling, and contracting themobility assistance component toward the cassis after activating therelease coupling. Activating the release coupling can include applyingat least about a 45 Nm torque or at least about a 100 Nm torque to themobility assistance device.

The contracting of the mobility assistance component can includerotating the mobility assistance component with respect to the chassis.The method can include expanding the mobility assistance component awayfrom the chassis. Expanding the mobility assistance component caninclude rotating the mobility assistance component with respect to thechassis. The method can include driving a track on the mobilityassistance device.

Yet another method is disclosed of using a robotic vehicle system. Themethod can include delivering a force through a robotic vehicle systempowertrain in the robotic vehicle system. The delivering of the forcecan include generating a force, delivering the force through a firstshaft or axle to a first receiver, and delivering the force from thefirst receiver to a second receiver. The force can be generated with aforce generation component (e.g., a motor, engine) in the roboticvehicle system. The first shaft or axle can interface with the firstreceiver, such as an inner wheel hub. The modulus of elasticity of thefirst shaft can be no more than about 1000% more and no less than about90% less than the modulus of elasticity of the first receiver. Themodulus of elasticity of the first receiver can be no more than about1000% more and no less than about 90% less than the modulus ofelasticity of the second receiver.

The first receiver can have a radially inner hub of a pulley. The methodcan include driving a track with the pulley. The force generationcomponent can include an electric motor.

The method can include delivering the force from the second receiver toa third receiver. The modulus of elasticity of the second receiver is nomore than about 1000% more and no less than about 90% less than themodulus of elasticity of the third receiver.

For example. the first receiver can be a harder (e.g., relative to theouter Wheel and track) inner wheel of a pulley. The second receiver canbe a medium-hardness (e.g., relative to the axle, inner wheel and track)outer wheel of the pulley. The third receiver can be a (e.g., relativeto the wheel and axle) softer track.

The third receiver can have a radially outer wheel of a pulley. Themethod can include further comprising driving a track with the pulley.The third receiver can have a track on a radial outer surface of apulley

The first receiver can be concentric about the first shaft. The secondreceiver can be concentric about the first receiver.

The surface area of contact between the first receiver and the secondreceiver can be greater than the surface area of contact between theshaft and the first receiver.

A system for delivering a force through a powertrain is disclosed. Thesystem can include a power generator (e.g., motor, engine), a shaftconfigured to deliver power from the power generator, a first receiverattached to the shaft, and a second receiver attached to the firstreceiver. The modulus of elasticity of the shaft can be greater than themodulus of elasticity of the first receiver. The modulus of elasticityof the first receiver can be greater than the modulus of elasticity ofthe second receiver.

The system can have a third receiver attached to the second receiver.The modulus of elasticity of the second receiver can be greater than themodulus of elasticity of the third receiver.

A robotic system that can have a dimensionally small footprint (i.e.,area when viewed from above) in a contracted configuration and adimensionally larger footprint in an expanded configuration duringmobility of the system is disclosed. The system can be collapsed orcontracted for carrying or storage, and expanded for auto-mobility ofthe robotic system. The robotic system can contact and expand duringauto-mobility.

The robotic vehicle system can have a body, a first mobility assistancedevice attached to the body, and a second mobility assistance deviceattached to the body. The first mobility assistance device can have afirst configuration of a ready position (e.g., expanded away from thebody or lengthened), and a second configuration of a stored position(e.g., contracted toward the body or shortened). The second mobilityassistance device can have a first configuration of a ready position(e.g., expanded away front the body or lengthened), and a secondconfiguration of a stored position (e.g., contracted toward the body orshortened). The mobility assistance devices can be flippers, rockets, orother locomotion devices. The mobility assistance devices can be movedinto the ready position for motion, and can be moved into the storedposition when not in the ready position.

The robotic vehicle system can have a body a first mobility assistancedevice attached to the body, and a second mobility assistance deviceattached to the body. The first mobility assistance device can have afirst configuration extended from the body and a second configurationcontracted toward the body. The second mobility assistance device canhave a first configuration extended away from the body and a secondconfiguration contracted toward the body/ The system can have anextended length when the first and second mobility assistance devicesare in the first configurations. The system can have a contracted lengthwhen the first and second mobility assistance devices are in the secondconfigurations.

The robotic vehicle system can have a third mobility assistance deviceattached to the body. The third mobility assistance device can have afirst configuration extended from the body and a second configurationcontracted toward the body. The robotic vehicle system can have a fourthmobility assistance device attached to the body. The fourth mobilityassistance device can have a first configuration extended from the bodyand a second configuration contracted toward the body. The extendedlength can be when the first, second, third and fourth mobilityassistance devices are in the first configurations. The contractedlength can be when the first, second, third, and fourth mobilityassistance devices are in the second configurations.

The extended or expanded length can be equal to or greater than about50% of the contracted length, or equal to or greater than about 60% ofthe contracted length.

A method for using a robotic vehicle system having a body, a firstmobility assistance device attached to the body, and a second mobilityassistance device attached to the body is disclosed. The method caninclude configuring the robotic vehicle system in a contractedconfiguration having a contracted length. The method can includeexpanding the first mobility assistance device from a contractedconfiguration to an expanded configuration. The method can includeexpanding the second mobility assistance device from a contractedconfiguration to an expanded configuration. The robotic vehicle systemcan be in an expanded configuring having an expanded length followingthe expanding of the first, and second mobility assistance devices, andwherein the expanded configuration is greater than about 50% of thecontracted length.

The robotic vehicle system can have, a third mobility assistance deviceattached to the body, and a fourth mobility assistance device attachedto the body. The method can include expanding the third mobilityassistance device from a contracted configuration to an expandedconfiguration. The method can include expanding the fourth mobilityassistance device from a contracted configuration to an expandedconfiguration. The robotic vehicle system can be in an expandedconfiguring having an expanded length following the expanding of thefirst, second, third and fourth mobility assistance devices.

A robotic vehicle system having a body and a first mobility assistancedevice is disclosed. The body can have a body longitudinal axis. Thefirst mobility assistance device can have a first mobility assistancedevice longitudinal axis. The first mobility assistance devicelongitudinal axis can intersect the body longitudinal axis. The roboticvehicle system can have a second mobility assistance device having asecond mobility assistance device longitudinal axis. The second mobilityassistance device longitudinal axis can intersect the body longitudinalaxis.

A robotic vehicle system having a body and a pair of main tracks ormobility devices is disclosed. The main tracks can be angled (i.e.,non-parallel) with respect to each other. The robotic vehicle system canhave a drive system for driving the pair of main tracks. The main trackscan be toe-in or toe-out with respect to each other. The toe-in ortow-out angle can be from greater than about 0 degrees to about 90degrees, for example about 10 degrees. The robotic system can have afirst mobility assistance device attached to the body, and a secondmobility assistance device attached to the body. The angle of the maintracks with respect to each other can be adjusted during use. The trackscan be toe-in for enhanced straight line stability and/or toe-out forenhanced turning sensitivity.

A robotic system is disclosed that can have a body, a mobilityassistance device, a drivetrain, and a release mechanism within theassembly of the mobility assistance device and the drivetrain. Themobility assistance device can be connected to the drivetrain. Thedrivetrain can actuate the mobility assistance device with respect tothe body. The release mechanism can be configured to allow movement ofthe mobility assistance device without moving at least one element ofthe drivetrain. The drivetrain can include a motor, shaft and gearing totransmit power from the motor to drive a track on the mobilityassistance device. The release mechanism can have a safety releasecoupling. The release mechanism can allow the mobility assistance deviceto move relative to the body. The release mechanism can actuate themobility assistance device from a ready (e.g., expanded) to a stowed orstored (e.g., contracted) position without moving all or part of thedrivetrain.

A method for using a robot having a chassis and a drivetrain isdisclosed. The method can include activating a release within adrivetrain connected to a mobility assistance device. Activating therelease can include moving a mobility assistance device from a firstposition relative to the chassis to second position relative to thechassis. The first position can be a ready position from which the robotcan be operated. The second position can be a stowed position from whichthe robot can be more easily stored than the ready position and/or stilloperated. Activating the release can include releasing a safety releasecoupling or disengaging a clutch between the mobility assistance deviceand the drivetrain.

Releasing the safety release coupling can include popping the coupling,for example by delivering an impact or impulse to the coupling (e.g., bydropping or throwing the robot to deliver the impulse through themobility assistance devices and to the safety release coupling.Releasing the safety release coupling can include levering to releasethe coupling, activating a motor (e.g., a servo motor) a solenoid, orcombinations thereof. The release of the safety release coupling can beactuated by a control, such as a button, switch, toggle, or combinationsthereof.

The method can include moving the mobility assistance device from afirst position to a third position, a second position to a thirdposition, or combinations thereof.

BRIEF DESCRIPTION OF THE FIGURES

FIGS. 1 a and 1 b illustrate variations of the robotic system with theflippers in an extended configuration.

FIG. 2 illustrates the robotic system of FIG. 1 with the flippers in aretracted. configuration.

FIG. 3 illustrates a variation of the robotic system.

FIGS. 4 a and 4 h are left and right side views, respectively, of avariation of the robotic system with the flippers in an extendedconfiguration.

FIGS. 5 a and 5 b are top and bottom views, respectively, of a variationof the robotic system with the flippers in an extended configuration.

FIGS. 6 a through 6 f are top views of a variation of the robotic systemwith the flippers in extended and retracted configurations,respectively.

FIGS. 7 a and 7 b are side views of is a variation of the robotic systemwith the flippers in retracted and extended configurations,respectively.

FIG. 8 is a front perspective view of a variation of the robotic system.

FIGS. 9 a and 9 b are left and right side views, respectively of avariation of the robotic system.

FIGS. 10 a and 10 b are top and bottom views, respectively, of avariation of the robotic system.

FIG. 11 is a schematic representation of a variation of the roboticsystem.

FIG. 12 a is a side view of a variation of a chassis with exposedcompartments.

FIGS. 12 b through 18 are perspective diagrams of a variation of therobotic system.

FIG. 19 is a schematic representation of a variation of a control moduleof the robotic system.

FIG. 20 is a perspective diagram of a variation of a remote user controlmodule of the robotic system.

FIG. 21 is a schematic representation of a variation of a power moduleof the robotic system.

FIG. 22 is a schematic representation of a variation of a drive moduleof the robotic system.

FIG. 23 is a schematic representation of a variation of a mobilityassistance module of the robotic system.

FIG. 24 is a schematic representation of a variation of a audio payloadmodule of the robotic system.

FIG. 25 is a schematic representation of a variation of a video payloadmodule of the robotic system.

FIG. 26 through 29 are perspective views of further arrangements of themobility assistance devices of a variation of the robotic system.

FIGS. 30 a through 30 e illustrate a method of a variation of themobility device operating with a piece of debris passing between thepulley and the track.

FIGS. 31 a through 31 c are variations of cross-section A-A of thetrack.

DETAILED DESCRIPTION

FIGS. 1 a and 1 b illustrate a robotic system 10 that can be used forremotely transporting. a payload and the robotic system itself Therobotic system is configured to traverse a multitude of terrain typesincluding stairs, rubble, water barriers, and to push open and passthrough doors. The robotic system can be in an expanded configuration toextend the effective wheelbase and/or track base (i.e., the length fromthe distal end of the longitudinally outermost wheel or track on a.first longitudinal end of the system to distal end of the longitudinallyoutermost opposite wheel or track on a second longitudinal end of thesystem).

The robotic system 10 can have a chassis frame 101. The chassis frame101 can have plates mounted to the chassis frame 101. The chassis frame101 and plates can form a dust-proof, and/or water-proof body 20 orchassis 100. For example, the plates can form the entire outsidesurface, be sealed with gaskets and/or caulking and/or sealant, and haveno ports or holes, or have holes or ports covered by dust-proof and/orwaterproof filters. The chassis 100 or body 20 and the chassis frame 101can be identical, for example if the system 10 has no side plates orother additional body or chassis components on the chassis frame 101

The body 20 can be water and/or dust permeable. The body 20 can havevents or holes, for example for cooling, sampling the environment video,audio, chemical sensors, and or samplers), tool or weapon access, orcombinations thereof.

The body 20 can contain one or more removable or permanently affixedpayloads, such as cameras, video displays, microphones, speakers,transceivers (including receivers and/or transmitters), chemical sensorsand samplers, weapons, or combinations thereof.

The body 20 can be attached to one or more mobility devices 200. Themobility devices 200 can be a track system, and/or be a set of one ofmore wheels, skis, skates, propellers, wings, sails, blades, balloons,floats, paddles, oars, flippers, turbines, propellers, corkscrews,winches, pressure tanks, rockets, a hover system or combinationsthereof. FIG. 1 a illustrates that the body can have one, two or moremobility devices 200 located on each lateral side of the body 20. FIG. 1b illustrates that the body 20 can have one or more mobility devices 200located laterally Within the body. The mobility devices 200 can belaterally central to the body 20,

The track system can have Mobility device tracks 210 mounted ontomobility device track drive pulleys and a mobility device track guide.The mobility device track can be driven, as shown by arrows 30, by themobility device track drive pulleys along, the mobility device trackguide. The mobility device track device pulleys can be actively poweredby one or more motors, and optionally transmissions, in one direction orcontrollably reversible directions, and/or passively free-spinning,and/or attached to a full-time engaged, or engageable and releasableclutch to prevent rotation in a first direction while allowing rotationin a second direction (e.g., to prevent backing up or sliding downhill,for example when carrying a payload or towing a load). The mobilitydevice track can engage with the ground surface and propel the system10.

One or both of the mobility devices 200 can have a mobility device dummytrack. For example, the mobility device dummy track can be located wheresome or all of the mobility device track 210 would have been located.The mobility device dummy track can be a single, plastic molding thathas an appearance similar to the track, or a part of the track that isnot driven. The mobility device dummy track can be not in contact withthe ground surface. For example, the mobility device dummy track canperhaps not extend to the bottom of the mobility device 200. Themobility device dummy track can drag or slide along the ground surfacewhen the system is moved. The mobility device dummy track can be a chaincover that covers a drive chain for driving one or both flippers.

The body 20 can be attached to one, two, three, four or more mobilityassistance devices 300, such as flippers 301 wheels, skis, skates,propellers, wings, sails, blades, balloons, floats, paddles, oars,flippers, turbines, propellers, corkscrews, winches, pressure tanks,rockets, a hover system, a floating device such as a foam orgas-inflated (e.g., air or carbon dioxide) bladder, or combinationsthereof. The mobility assistance devices 300 can have a mobilityassistance device track that can driven, as shown by arrows 40, andguided by one or more mobility assistance device pulleys, and guided bya mobility assistance device track guide.

The flipper tracks can all be driven in the same direction. Any one,two, three, or four flipper tracks can be driven in a first directionwhile the remaining flipper tracks can be driven in a second direction,opposite to the first direction, locked in place (e.g., via a clutch orbrake), allowed to slide freely along the mobility assistance devicepulleys and mobility assistance track guide, or combinations thereof.

For example, the flipper tracks on a first lateral side of the body 20can be driven in a first direction while the flipper tracks on thelaterally opposite side of the body 20 can be driven in the seconddirection, opposite to the first direction, locked in place (e.g., via aclutch or brake), allowed to slide freely along the mobility assistancedevice pulleys and mobility assistance track guide, or combinationsthereof (e.g., to turn the body). The flipper tracks on a first lateralside of the body 20 can be driven in opposite directions to each otherwhile the flipper tracks on the laterally opposite side of the body 20can be driven in directions similar to or opposite to the directiondriven by either of the tracks on the first lateral side of the body 20,locked in place (e.g., via a clutch or brake), allowed to slide freelyalong the mobility assistance device pulleys and mobility assistancetrack guide, or combinations thereof (e.g., to turn the body).

The flipper tracks on a first longitudinal side of the body 20 (e.g.,the front or hack) can be driven in a first direction while the flippertracks on the longitudinally opposite side of the body 20 can be drivenin the second direction, opposite to the first direction, locked inplace (e.g., via a clutch or brake), allowed to slide freely along themobility assistance device pulleys and mobility assistance track guide,or combinations thereof (e.g., to churn or rub the ground surface withthe tracks). The flipper tracks on a first longitudinal side of the body20 can be driven in opposite directions to each other (e.g., to churn orrub the ground surface with the tracks) while the flipper tracks on thesecond, longitudinally opposite side of the body 20 can be driven indirections similar to or opposite to the direction driven by either ofthe tracks on the first longitudinal side of the body 20, be locked inplace (e.g., via a clutch or brake), allowed to slide freely along themobility assistance device pulleys and mobility assistance track guide,or combinations thereof.

The flipper tracks on diametrically opposite sides of the body 20 can bedriven in a first direction while the flipper tracks on thediametrically opposite side of the body 20 can be driven in the seconddirection, opposite to the first direction, locked in place (e.g., via aclutch or brake), allowed to slide freely along the mobility assistancedevice pulleys and mobility assistance track guide, or combinationsthereof (e.g., to intentionally churn or rub the ground surface with thetracks). The flipper tracks on diametrically opposite sides of the body20 can be driven in opposite directions to each other (e.g., to rotatethe body 20) while the remaining flipper tracks (e.g., those on theother diametrically opposite corners of the body 20) can be driven indirections similar to or opposite to the direction driven by either ofthe tracks on the first longitudinal side of the body 20, be locked inplace (e.g., via a clutch or brake), allowed to slide freely along themobility assistance device pulleys and mobility assistance track guide,or combinations thereof.

Four flippers 301 can be located at the laterally and longitudinallyopposite corners of the body or main track, as shown. Two flippers 301can be at a single longitudinal end (e.g., front or back) of the body200 with no flippers at the opposite longitudinal end. Two flippers 301can be on a single lateral side of the body 20, with no flippers 301 onthe opposite lateral side. Two flippers 301 can be placed atdiametrically opposite corners of the body 20 with the remaining cornershaving no flippers 301.

The driven mobility assistance device tracks can be driven in the sameand/or opposite directions to the driven mobility device tracks. Forexample, all the driven in the same direction as the driven mobilitydevice tracks. The mobility assistance device tracks on a first lateralside can be driven in the same first direction as the driven mobilitydevice track on the first lateral side when the mobility device trackand the mobility assistance device tracks on the second, oppositelateral side is driven in a second direction, opposite the firstdirection, for example to rotate the system 10 (e.g., withouttranslating the system away from the current location of the system 10).

When the flippers 301 are in an extended configuration, as shown inFIGS. 1 a and 1 b, the longitudinally distal ends of the flippers 301can extend past the longitudinally distal ends of the chassis, body 20and/or the mobility device 200.

FIG. 2 illustrates that the mobility assistance devices can belongitudinally contracted or retracted toward the longitudinal center ofthe body 20. For example, the flippers 301 can individually, in lateral,longitudinal, or diametrically opposite pairs, and/or concurrentlyrotate, as shown by arrows 50, toward the longitudinal center of thebody 20. The flippers 301 can be positioned to not exceed the top orbottom height of the body 20. For example, the flippers 301 can bewithin the side-view footprint of the body 20.

The robotic system can be in a retracted or contracted configuration tominimize the effective wheelbase and/or track base, for example forstorage, carrying, maneuvering smaller clearances while driving thesystem 10, throwing the robotic system 10 (e.g., through a window intoan unsecure building or room), or combinations thereof.

FIG. 3 illustrates that the mobility devices can be skids or skis 202.The skis 202 can be low friction, smooth panels. The skis 202 can definea ski plane. The skis 202 can be coated with a low friction material,such as wax, polymer (e.g., PTFE, such as Teflon® from EI DuPont deNemours & Co., Wilmington, Del.), oil, another lubricant, orcombinations thereof. The skis can be high friction, roughened panels.The skis 202 can be textured, having knurls, spikes, brads, vanes, tins,or combinations thereof extending outwardly from the plane of the ski202.

The skis 202 can have ski tips 204 that can extend from one or both ofthe longitudinal ends of each ski 202. The ski tips 204 can extendlongitudinally past the longitudinal terminus of the body 20. The skitips 204 can be in plane with the skis 202 or curve, bend, or angle outof plane with the ski 202. For example, the ski tips 204 can curvetoward the center of the body 20, as shown in FIG. 3. The ski tips 204can curve away from the center of the body 20. FIGS. 4 a and 4 billustrate that the robotic system can have a first, second, and thirdrobotic system antennas 60 a, 60 b, and 60 c. The antennas 60 a, 6 b,and 60 c can be fixed to or removable from plugs on the top surface ofthe body 20. The antennas can be attached to electronic hardware insideof the body 20, but exit the body 20 through ports through panels on thetop of the body 20. The antennas can be straight, as shown, curved,triangular, smart antenna arrays, springs, or combinations thereof. Theantennas 60 a, 60 b, and 60 c can extend from about 0 cm (0 in.) toabout 1 m (3 ft.), more narrowly from about 2 cm (0.8 in.) to about 60cm (20 in.), for example about 20 cm (8 in.) up from the body 20. Theantennas 60 a, 60 b and 60 c can be rigid, flexible, or combinationsthereof.

The antennas 60 a, 60 b, and 60 c can receive and send signals for dataand/or power to and from a remote operator control module, a centraloperations command, a second robotic system, or combinations thereof.One or more of the antennas 60 a, 60 b, and 60 c can alternatively oradditionally be a cord extending to the destination and/or source of thesignal and/or power.

The antennas 60 can have a removable interface (e.g., BNC, TNC, SMA),for example, for quick assembly and disassembly to the body 20. Theantennas 60 can be located inside the body 20. For example, the body 20and/or side plates can be made of a material (e.g., plastic) that doesnot shield internal antennas 60 from incoming RF signals and blockoutgoing signals. The antennas 60 can be mounted on a flexible mount.The antennas 60 can be attached to the body 20 by or articulatable orfolding mounts. The flippers 301 can extend from the from and back ofthe body 20. The bottoms of the flippers 301 can be substantiallycoplanar with the other flippers 301 and/or with the bottom surface ofthe body 20.

The body 20 can have one, two or more mobility device tracks 210. Themobility device tracks 210 can be powered or driven to deliver forceagainst the ground surface in contact with the bottom or top of themobility device track 210.

As shown in FIGS. 5 a and 10 b, the mobility device tracks 210 can havemobility device track axes 209. The track axes 209 can be parallel witheach other, or at positive or negative mobility track angles 208 withrespect to each other. For example, the mobility device tracks 210 canhave adjustable toe-in (i.e., a positive mobility track angle 208) ortoe-out (i.e., a negative mobility track angle). The toe-in can addstability to the steering and straight line stability at low and highspeeds. The mobility track angle can be from about −10° to about +10°,for example about 0°. For toe-in configurations, the mobility trackangle 208 can be from about 0.5° to about 10°, more narrowly from about1° to about 5°, for example about 3°. The mobility track angle 208 canbe adjustable, for example by adjusting an alignment bolt on one or bothmobility devices 200 and/or by controlling servo motors or solenoidsattached to one or both mobility devices 200.

The mobility device tracks 210 can have mobility device track outsidenubs 211 (and 212, shown infra) and/or mobility device track inside nubs216 (217 and 218). The outside nubs 211 can be on the outside surface ofthe device tracks 210. The inside nubs 216 can be on the inside surfaceof the mobility device tracks 210. The inside nubs 216 (217 and 218)can, for example, retain the track 210 on the pulley 220, track guideand rollers. The outside nubs 211 (and 212) can, for example, increasethe traction between the track 210 and the ground surface. The mobilitydevice inside nubs 216 and/or mobility device outside nubs 211 can bestuds, spikes, brads, cleats, anchors, rails, or combinations thereof.The inside nubs 216 and/or outside nubs 211 can be integral with and/orremovably attached to the mobility device tracks 210.

The inside nubs 216 and/or outside nubs 211 can be separated, individualnubs, as shown, and/or one or more rails extending along part or all ofthe length of the track. For example, the rail can have nubletsextending toward (e.g., medially) or away from (e.g., laterally) thecenter of the width of the track. The inside nubs 216 (or 316) ornublets can hold the track 210 (or 310) on the pulleys 220 (or 320)and/or track guides and/or rollers, and/or extend into and engage with atrack interface, such as the radially extending vanes 345, of the pulleycaps 240 and 340. The inside nubs 216 (or 316) or nublets can mate,engage and disengage the radially extending vanes 345 as the pulley caps240 and 340 rotate attached to and synchronized with the pulleys 220 (or320) and the track 210 (or 310) moves along the pulleys 220 (or 320).Radially extending vanes can be on the pulley 220 (or 320) to engage theinside nubs 216 (or 316).

The inside nubs 216 and/or outside nubs 211 can be spaced apart from theadjacent. respective, nubs 216 and/or 211 by from about 1 cm (0.4 in.)to about 5 cm (2 in.). For example, the outside nubs 211 can be spacedapart by about 42 mm (1.6 in.). Also for example, the inside nubs 216can be spaced apart by about 14 mm (0.55 in.). The inside nubs 216and/or outside nubs 211 can extend laterally across the part or all ofthe width of the mobility device track 210. For example, the outsidenubs 211 can be located in longitudinally equal pairs with one nub ofeach pair located on the lateral inside of the mobility device track andthe other nub of the pair located on the lateral outside of the mobilitydevice track 210. The outside nubs 211 can increase the traction orfriction between the tracks 210 and the ground surface adjacent to thetracks 210.

One, two, three, four or more of the flippers 310 can have mobilityassistance device tracks 310. The mobility device tracks 310 canencompass the outer perimeter of the flippers along a vertical planeparallel with the plane of the flipper 301. The flippers 310 (e.g., thenon-tracked flippers) can have no track, skids, skis, tires, orcombinations thereof.

The mobility assistance device 300 can have a mobility assistance devicepulley or flipper pulley 320. The flipper pulley 320 can receive powerfrom a power source, such as a motor, and deliver it to the mobilityassistance device track 310. The outer lateral side of the flipperpulley 320 can be attached to and covered by a mobility assistancedevice pulley cap 340. The mobility assistance device pulley cap 340 canhave one, two or more angular (e.g., about 360°) vanes and/or one ormore (e.g., from about 3 to about 30, for example about 12) radialmobility assistance device vanes 342 b and recessions.

The flipper 301 can have a mobility assistance track guide 330. Theflipper 301 can have a mobility assistance track guide arm 331. Themobility assistance track guide arm 331 can be vertically inside of orcontained by the mobility assistance track guide 330. The mobilityassistance track guide arm 331 can be attached to and/or integral withand/or interference fit within the mobility assistance track guide 330.

The mobility assistance track guide 330 and the mobility assistancetrack guide arm 331 can have angular and radial mobility assistancetrack guide vanes 350 a and 350 b. respectively, and recessions. Theangular mobility assistance track guide vanes 350 a can extend from afirst terminal side of the mobility assistance track guide 330 ormobility assistance track guide arm 331, to a second terminal side ofthe mobility assistance track guide 330 or mobility assistance trackguide aim 331.

The flipper 301 can have roller wheel caps 336 (and 337), for exampleattached to the lateral inside and outside of a roller wheel (showninfra). The roller wheel caps 337 can have a diameter larger than theroller wheel, for example interference fitting against, retaining andguiding the mobility assistance device track 310 on the flipper 310.

FIG. 17 illustrates that the tracks 210 and 310 can have track largeouter diameters 402 a and track large inner diameters 402 b, for examplealong the pulleys 220 and 320. The track large outer diameters 402 a canbe from about 5 cm to about 35 cm for example, about 15 cm

The track large inner diameters 402 b can be from about 4 cm to about 34cm, for example, about 14 cm.

The mobility assistance device tracks 310 can have track small outerdiameters 404 a and track small inner diameters 404 b, for example alongthe roller wheels 335. The track small outer diameters 404 a can be fromabout 2 cm to about 20 cm, for example, about 4 cm.

The track small inner diameters 404 b can be from about 2 cm to about 19cm, for example, about 3 cm.

The track guide caps 337 and 336 can have inner and outer track guidecap diameters. 406 a and 406 h, respectively. The track guide capdiameters 406 a and 406 b can be from about 2.1 cm to about 19.1 cm, forexample, about 3.5 cm.

FIG. 18 illustrates that the pulleys 220 and 320 can have pulleydiameters 410. The pulley diameters 410 can be from about 4 cm to about34 cm, for example, about 14 cm.

The pulley end caps, mobility device pulley caps 240 or mobilityassistance device pulley caps 340 can have pulley cap diameters 412. Thepulley cap diameters 412 can be from about 4.1 cm to about 34.1 cm, forexample, about 14.1 cm.

FIG. 14 illustrates that the side plates 150 can have sideplate heights414. The sideplate heights 414 can be from about 4.1 cm to about 34.1cm, for example, about 14.1 cm.

When the tracks 210 and/or 310 are in a cool or unexpanded state, thetrack large outer diameters 402 a can be larger than the pulley capdiameters 412 and sideplate heights 414, for example to maintain contactbetween the track 210 and/or 310 and the ground surface. When the tracks210 and/or 310 are in a warm or expanded state, the track large innerdiameters 402 b can be smaller than the pulley cap diameters 412 andsideplate heights 414, for example to laterally restrain the tracks 210and/or 310 (e.g., by interference fitting) on the respective trackguides and pulleys.

When the mobility assistance device tracks 310 are in a are a cool orunexpanded state, the track small outer diameters 404 a can be largerthan the inner and outer track guide cap diameters 406 a and 406 b, forexample to maintain contact between the mobility assistance devicetracks 310 and the ground surface. When the mobility assistance devicetracks 310 are in a warm or expanded state, the track small innerdiameters 404 b can be less than the inner and outer track guide capdiameters 406 a and 406 b, for example to laterally restrain themobility assistance device tracks 310 (e.g., by interference fitting) onthe respective track guides and pulleys.

The flipper 301 can have a modulus of elasticity at 73° F. of from about280,000 to about 420,000. The flippers 301 can be rigid enough toprovide support for the mobility assistance tracks 310 between the axesof the roller wheel and the pulley. The flipper 301 can transmit torqueto effectively rotate the mobility assistance device. The flipper 301can flex on impact, or while being twisted/torqued in ways other thanabout the axis of rotation of the device.

The pulley wheels 220, 221, and 320 can have a modulus of elasticity at73° F. of from about 8,000 to about 12.000. The tracks 210 and 310 canhave a modulus of elasticity at 73° F. of from about 2,400 to about5,600. The antennas can have a modulus of elasticity at 73° F. of fromabout 16,000 to about 24,000.

The body 20 can have one or more side doors 70 on one or both sides,and/or front and/or back, and/or top and/or bottom. For example, theside door 70 can be between the top of the mobility device track 210 andthe bottom of the mobility device track 210. The side doors 70 canaccess the first, second, third or other compartments. Each side door 70can access a single compartment or a single side door can access two,three or more compartments.

The body 20 can have a side door latch 72. A first part of the side doorlatch 72 can be fixed to the side adjacent to the seam between the sidedoor 70 and the side plate adjacent to the side door 72. A second partof the side door latch 72 can be fixed to the side door 70. The sidedoor latch 72 can be unlatched opened or latched closed, fixing the doorclosed. For example. the side door can be locked unless cleaning ,replacing payloads or maintenance is required.

One (as shown) or both lateral sides, and/or one or both longitudinalends, and/or the top and/or the bottom can have doors similar to theside door 70 with or without latches.

The mobility assistance device track 310 can have mobility assistancedevice track outside nubs 311 and/or mobility assistance device trackinside nubs 316. The outside nubs 311 can be on the outside surface ofthe mobility assistance device tracks 310. The inside nubs 316 can be onthe inside surface of the mobility assistance device tracks 310. Theinside nubs 316 and/or outside nubs 311 can be studs, spikes, brads,cleats, anchors, rails, or combinations thereof. The inside nubs 316and/or outside nubs 311 can be integral with and/or removably attachedto the mobility assistance device tracks 310.

The inside nubs 316 and/or outside nubs 311 can be spaced apart from theadjacent, respective, nubs 316 and/or 311 by from about 1 cm (0.4 in.)to about 5 cm (2 in). For example, the inside nubs 316 can be about 14mm (0.55 in.) apart, and the outside nubs 311 can be about 42 mm (1.7in.) apart. The inside nubs 316 and/or outside nubs 311 can extendlaterally across the part or all of the width of the mobility assistancedevice track 310. For example, the outside nubs can be located inlongitudinally equal pairs with one nub of each pair located on thelateral inside of the mobility assistance device track 310 and the othernub of the pair located on the lateral outside of the mobilityassistance device track 310. The outside nubs 316 can increase thetraction or friction between the mobility assistance device tracks 310and the ground surface adjacent to the tracks 310.

FIGS. 5 a and 5 b illustrate that the body 20 can have a first, second,and third compartment for holding removable payloads. The first, secondand third compartments can be accessed through first, second and thirdinterfaces, respectively. The first, second and third interfaces can becovered with first, second and third interface covers 74, 76 and 176,respectively. The interface covers 74, 76 and 176 can be attached to thebody 20 with cover attachment devices 80, such as screws, bolts,fast-release (e.g., cotter) pins, snaps, latches, or combinationsthereof.

One, two or three of the interface covers 74, 76 and 176 can haveventilation and/or sound openings 78, such as vents, pores, filters,holes grids, a screen-covered, fabric-covered and/or mesh-covered and/orgrate-covered opening, or combinations thereof. The openings 78 can bewaterproof and/or dust-proof. The robotic system 10 can have a speakerand/or microphone can be located inside of the openings 78. Aventilation fan, manifold or conduit can be located inside of theopenings 78.

The body 20 can have an open or covered payload bay 175. One or morepayloads can be loaded into and permanently fixed or removably attachedor detachable from to the payload bay 175.

The body 20 can have one or more top body panels 80 a on the top side ofthe body 20, one or more bottom body panels 82 b on the bottom side ofthe body 20, one or more payload bay body panels 82 c, side front andrear body panels, and combinations thereof. The body panels can bereinforced and armor plated. For example, the body panels can be madefrom iron, steel, aluminum, titanium, plastic, ceramic, laminated glass,polycarbonate thermoplastic, carbon fiber layers, depleted uranium,buckypaper, aluminum foam, or composites or other combinations thereof.

The body panels can be from about 2.5 mm (0.098 in.) to about 14 mm(0.55 in.) thick, for example with external and internal ribs to providesupport. The ribs also act as vanes to dissipate heat. The ribbed designcan create a high-strength, lightweight chassis that has extra surfacearea, compared with a rib-less body, for example for dissipating heat.

The body panels can be thermally conductive and sink heat away from themotors and other heat-generating electric components. The body panelscan have radiative heat transfer vanes 86, for example, to dissipateheat from the electric components into the environment outside of thebody 20.

The mobility assistance devices 300 can have mobility assistance devicepulley caps 340 attached to the lateral outside of the mobilityassistance device pulleys that can drive the mobility assistance devicetracks 310. The mobility assistance device pulley caps 340 can have arounded lateral outer surface, for example forming a mobility assistancedevice pulley end cap radius of curvature 84. The mobility assistancedevice pulley end cap radius of curvature 84 can be from about 10 cm (4in.) to about 21 cm (8.3 in.), for example about 162 mm (6.38 in.). Whenthe robotic system 10 is positioned or falls onto the side of therobotic system 10, the curvature of the mobility assistance devicepulley end caps 340 can induce the robotic system to passively oractively (i.e., by activating the mobility assistance device 300) fallonto the top or bottom of the robotic system 10, for example enablingany of the tracks 210 and/or 310 to contact the ground surface andpropel the robotic system 10.

The chassis 100 can have a handle 178 extending from one or both of thelongitudinal ends of the chassis 100. The handle 178 can be configuredto form an ergonomic gap between the handle 178 and the chassis 100. Thehandle 178 can support the hanging weight of the e robotic system 10 anda full complement of payloads and other components loaded onto thechassis 100. For example, the handle 178 and chassis 100 can supportfrom about 2 kg (5 lbs) to about 45 kg (100 lbs), more narrowly fromabout 5.4 kg (12 lbs.) to about 27 kg (60 lbs.), yet more narrowly fromabout 16 kg (35 lbs.) to about 23 kg (50 lbs.).

FIG. 6 a illustrates that the body 20 can have a body longitudinal axis354. The ii mobility devices 200 can have mobility device longitudinalaxes 356. The mobility assistance devices 300 (e.g., flippers 301) canhave mobility assistance device longitudinal axes 358.

The mobility assistance device longitudinal axes 358 can intersect thebody longitudinal axis at one or more mobility assistance device-bodyangles 360. The mobility assistance device longitudinal axes 358 canintersect the mobility device longitudinal axes 356 at one or moremobility assistance device-mobility device angles 362.

The mobility assistance device-body angles 360 and/or the mobilityassistance device-mobility device angles 362 can be zero (e.g., parallelaxes) or non-zero. The mobility assistance device-mobility device angles362 can be from about 0° to about 180°, more narrowly from about 5° toabout 15°, for example about 10°. The mobility assistance device-bodyangles 360 can be from about 0° to about 180°, more narrowly from about5° to about 15°, for example about 10°.

The flippers 301 can be vertically raised and lowered with respect tothe body 20 and mobility devices 200, for example, to prevent theflippers from contacting the ground surface and to lift the mobilitydevices 200 so the drive forces from the mobility devices 200 do notconflict with the direction of the chive forces applied to the groundsurface by the flippers 301. The flippers 301 and mobility devices 200can contact and apply a driving force to the ground surfaceconcurrently, even when the mobility assistance device-mobility deviceangles 362 are not about 0°.

The robotic system 10 can have one, two, three, four or more steeringrods 352 that can be attached to the flippers 301. The steering rods 352can be translatably powered and controlled by servo motors, solenoids,or combinations thereof. The steering rods 352 can extend laterally fromthe body 20. The steering rods 352 can translate laterally inward andoutward, shown by arrows 364. The translation of the steering rods 352can change the mobility assistance device-body angle 360 and themobility assistance device-mobility device angles 362.

Each steering rod 352 can be synchronized or controlled independently.The mobility assistance device-body angles 360 can be adjusted to rotateor steer the robotic system 10.

The drive axles 149 can extend laterally from the body 20, for example,about perpendicular to the body longitudinal axis 354. The drive axles149 can be laterally extendable and retractable to position the flippers301 away from the mobility devices 200 at the location of the driveaxles 149. For example, the drive axles 149 can be positioned toposition the flippers 301 flush with and adjacent to the mobilitydevices 200 at the location of the drive axles 149 with no substantialgap between the flippers 301 and the mobility devices 200.

The mobility assistance device-mobility body angles 360 and/or themobility assistance device-mobility device angles 362 of the flippers301 at a first longitudinal end of the robotic system 10 can be aboutthe negative of mobility assistance device-mobility body angles 360and/or the mobility assistance device-mobility device angles 362 of therespective laterally corresponding flippers 301 at a second longitudinalend of the robotic system 10.

FIG. 6 b illustrates that the mobility assistance device-mobility bodyangles 360 and/or the mobility assistance device-mobility device angles362 of the flippers 301 at a first longitudinal end of the roboticsystem 10 can be about equal to the mobility assistance device-mobilitybody angles 360 and/or the mobility assistance device-mobility deviceangles 362 of the flippers 301 at a second longitudinal end of therobotic system 10.

The flippers 301 can all be parallel. The steering rods 364 for all theflippers 301 can be synchronized and/or fixed to each other.

FIG. 6 c illustrates that the left lateral front flipper 301 can beparallel with the right lateral front flipper 301, and the left lateralrear flipper 301 can be parallel with the right lateral rear flipper301, for example to actively steer the robotic system 301, but the frontflippers 301 can be optionally fixed to be parallel or not parallel withthe rear flippers 301.

FIG. 6 d illustrates that the flippers 301 can be retracted orcontracted, as shown by arrows. Some or all of the flippers 301 can havenon-zero mobility assistance device-mobility body angles 360 and/or themobility assistance device-mobility device angles 362 in a retracted orcontracted configuration.

FIG. 6 e illustrates that the flippers 301 at a first longitudinal endof the robotic system 10 can have mobility assistance device-mobilitybody angles 360 and/or the mobility assistance device-mobility deviceangles 362 of about 0° in a retracted or contracted configuration. Theflippers 301 at the second longitudinal end of the robotic system 10 canhave non-zero mobility assistance device-mobility body angles 360 and/orthe mobility assistance device-mobility device angles 362 in a retractedor contracted configuration, for example not interference fittingagainst the flippers 301 at the first longitudinal end and compactinginto a laterally symmetric footprint (when viewed from the top orbottom).

FIG. 6 f illustrates that flippers 301 at first diametrically oppositecorners of the robotic system 10 can have mobility assistancedevice-mobility body angles 360 and/or the mobility assistancedevice-mobility device angles 362 of about 0° in a retracted orcontracted configuration. The flippers 301 at second diametricallyopposite corners of the robotic system can have non-zero mobilityassistance device-mobility body angles 360 and/or the mobilityassistance device-mobility device angles 362 in a retracted orcontracted configuration, for example not interference fitting againstthe flippers 301 at the first longitudinal end and compacting into adiagonally symmetric footprint (when viewed from the top or bottom).

FIG. 7 a illustrates that the mobility assistance devices 301 on alateral side of the robotic system 10 can have complimentary shapes in acontracted and/or retracted configuration. The shapes of the mobilityassistance devices 301 can retract (e.g., rotated inward from a ?

For example, each flipper 301 can have more than one roller wheel 335 toform each flipper 301 to not interference fit against the other flippers301 on the same lateral side of the robotic system 10 when the flippers301 are in a retracted or contracted configuration, in an extendedconfiguration or moving between different configurations.

FIG. 7 b illustrates that when the flipper 301 can be in an extendedconfiguration. The flipper 301 at a first longitudinal end on a lateralside of the robotic system can contact the ground surface 372 along thesubstantially entire length of the flipper 301. The flipper 301 at asecond longitudinal end on the same lateral side of the robotic systemcan contact the ground surface along about the entire length of theflipper 301, or upon less than about the entire length of the flipper301, for example along about half of the length of the flipper 301. Theflipper 301 can form a flipper rise 364. The flipper rise 304 can be thegap under a leading terminal end of the flipper 364. As the roboticsystem is moving in the direction of the flipper rise 364, obstacles canencounter the flipper initially in the flipper rise 364, under theflipper 301. The flipper can then be pressed upward as the flipper 301contacts and is forced onto the obstacle.

FIGS. 8 through 10 b illustrate that the robotic system 10 can have nomobility assistance devices. The mobility devices 200 can be the lateraltermini of the robotic system 10.

The mobility devices 200 can have mobility device pulley end caps 240.Each mobility device pulley end cap 240 can have a mobility devicepulley end cap radius of curvature 284. The mobility device pulley endcap radius of curvature 284 can be from about 10 cm (4 in.) to about 21cm (8.3 in.), for example about 162 mm (6.38 in.). When the roboticsystem 10 is positioned or falls onto the side of the robotic system 10,the curvature of the mobility device pulley end caps 240 can induce therobotic system 10 to passively or actively by activating. the mobilitydevice 200) roll onto the top or bottom of the robotic system 10, forexample enabling any of the tracks 210 to contact the ground surface andpropel the robotic system 10.

As shown in FIGS. 11 through 14, the robotic system 10 can include achassis 100 which can house a power supply 110, a control module 120,and a drive module 130 connected to at least one mobility device 200. Asshown in FIGS. 19 through 20, the control module 120 can include aremote operator control unit 127. As shown in FIG. 21, the power modulecan regulate and control the power to the control module 120. As shownin FIGS. 11 and 22, the drive module 130 can include at least onegearbox 132, at least one motor 134, and at least one motor controller136. As shown in FIGS. 2 through 25 respectively, audio and videopayloads may be attached to the robotic system 10. As also shown inFIGS. 11 and 23, the Chassis 100 may house a mobility assistance module140 connected to a mobility assistance device 300. As shown in FIGS. 17and 18, the mobility assistance device 300 can be at least one flipper.The flipper can resemble a pinball machine flipper. The flipper can havea movable track 310. At least one flipper can be actuated, two flipperscan be actuated, or any number of flippers may be automatically ormanually actuated. As shown in FIGS. 26 through 29 the flippers may beactuated in a number of different positions depending on theapplication.

As shown in FIGS. 11 through 16, the chassis 100 can support all of thecomponents of the robotic system 10.

FIG. 12 a illustrates that the chassis 100 can have component-receivingchassis rails 374. The component-receiving chassis rails 374 can extendinwardly from the walls of the chassis 100. The chassis 100 ran be madewith an extrusion process. Any or all of the compartments 103, 104 and105 can have one or more rails 374.

The components can have component rails and/or grooves that can beconfigured to be slidably received by the rails 374. The chassis rails374 can be separate elements from the chassis 100 and/or can be extrudedprofiles integral with the chassis 100. The components can have snaps,clips, detents, other lockable configurations or features, orcombinations thereof that can interface with the chassis rails 374. Thecomponents can be slid into the chassis 100 along one or more chassisrails 374, and locked, fixing the component against the chassis rail 374and/or chassis wall. The components can be unlocked, detached from thecassis, and, for example, removed from the chassis 100. The componentscan be removed from the chassis 100 for maintenance, modification,specializing the robotic system, controlling weight, weightdistribution, power usage, and combinations thereof.

The chassis rails 374 can each have one or more rail legs 376 and railanus 378. The rail leg 376 can extend perpendicularly from the chassiswall or compartment wall. The rail arm 378 can extend perpendicularlyfrom the rail leg 376. For example, the rail arm 378 can extend from theend of the rail leg 376 that is farthest from the wall from which therail leg 376 extends. The chassis rails 374 can be curved. For example,the chassis rails 374 can have an arc shape.

The chassis rails 374 can be placed in pairs, such as a first chassisrail 374 a and a second chassis rail 374 b paired with the first chassisrail 374 a. The first chassis rail 374 a can be positioned in theopposite orientation as the corresponding second chassis rail 374 b. Acomponent can be configured to be slidably and/or lockably received by afirst chassis rail 374 a and the corresponding second chassis rail 374b.

The chassis 100 can protect components of the robotic system 10 whichmay include electronic components, motors, power supplies, payloadcomponents, mobility assistance devices, and any other components of therobotic system 10. As shown in FIGS. 12 b and 13, the chassis 100 caninclude a chassis frame 101. As shown in FIGS. 14 through 16, at leastone side plate 150 can be configured to close the chassis frame 101. Theside plate 150 may partially close the chassis frame 101. As shown inFIGS. 12 b and 13, the chassis frame 101 can be divided into a first andsecond compartment 103, 104. The chassis frame 101 can have a thirdcompartment. The second compartment 104 can include the thirdcompartment 105. However, the chassis frame 101 can include one, two,three, four, five, six or more compartments. arranged in any suitableconfiguration for housing any number of modules and/or robotic systemcomponents.

For example, the actuator modules can be located close to the mobilitydevices to minimize material in the robots design. The power sourcecompartment can be located so that the power module can connect via asliding-fit connector when the power source is placed in itscompartment. Also, for the current configuration the power source (e.g.,which can be relatively heavy) can be located close to the axis ofrotation of the flippers that will be rotated to “self-right” therobotic system 10 when the robotic system 10 is upside down. Thisconfiguration can have a center of gravity close to the axis ofrotation, which can help stability of the robotic system 10 forself-righting.

The chassis frame 101 can house about eight modules, for example, acontrol board, power board, front I/O board, audio board, two driveactuators, a flipper actuator, a safety coupling gear system, orcombinations thereof. Electrical cabling can connect the modules.Gearing, axles, shafts and other mechanical components can connect themodules. The chassis frame 101 can have a desiccant, for example forremoving moisture. The chassis frame 101 can have a lubricant.

The body plates can be made from machined aluminum alloys, extruded, ordie-cast. The body plates can have ribs, for example, to increasestrength and provide increased surface area. The ribs can be moreprevalent around the high stress and/or high-heat areas of the body andplates, such as at connection points for fasteners, front, rear and top,bottom impact points, bearing journals, axes of rotation and mountingpoints for payloads. The materials can be plated and/or hardened withanodizing, forging or heat-treating processes.

The first compartment 103 of the chassis frame 101 can house and/orinclude at least one drive module 130. The first compartment 103 of thechassis frame 101 can house and/or include a mobility assistance module140. A second compartment 104 of the chassis frame 101 can house a powersupply 110 and a control module 120. The second compartment 104 canhouse and/or include a third compartment 105 for housing a controlmodule 120 separately from the power supply 110. As shown in FIGS. 12 band 13, the chassis frame 101 can include at least one payload interface171, 172, 173. The interfaces 171, 172, 173 can be holes in the body 20.The interface 172 is shown open. A speaker grill 78 and microphone 181can be attached to or be part of an audio module payload mounted to thechassis. The audio module payload can be covered instead with a simpleplate, such as shown by interface 173. The interface 173 can also beexpanded with an external actuator, device, sensor, or combinationsthereof. The interfaces can be adapted to attach and/or connect payloadmodules. The payload modules can be attached to the chassis frame 101and/or payload connections 174 adapted to connect payload modules 170 acontrol module 120, power supply 110, or any other suitable roboticsystem component.

The chassis 100 can have payload bay 175 that can hold payloads. The bay175 can have one or more mounting points for attaching to payloads,and/or can carry payloads or gear loose (e.g., like a flat pickup truckbed with walls). The interface 170 can be removed and some variationadded, so in that sense it can be a payload.

The chassis 100 can be made of metal, for example aluminum, titanium,copper, steel, iron, brass, sheet metal, or combinations thereof. Thechassis 100 may be made of a non-metal material, such as carbon fiber,polycarbonate, concrete, metal foam, wood, a polymer, or combinationsthereof. The chassis 100 can be manufactured via a machining process,extruded, molded, cast, stamped, carved, welded or combinations thereof.

As shown in FIG. 14, the side plate 150 functions to close the chassisframe 101 to protect the internal components, and provide additionalstructural support. The side plate 150 can include a sealing device 151,which can seal the space between the chassis frame 101 and the sideplate 150.

The sealing device 151 can be a gasket seal made of an elastomer, suchas silicon rubber, a wax paper gasket, foam, caulk, glue, any othersuitable gasket or sealing device, or. The seal can be watertight and/orairtight, but may provide any suitable level of sealing, to preventpebbles, sand, dirt, silt or any other material as the chassis frame101, but may alternatively be made of any suitable material. The sideplate 150 can be fastened to the chassis frame 101 using at least onefastener, particles from getting inside the chassis 100. The side plate150 can be made of the same for example at least one machine screw,rivet, latch, interlocking snap-together component, glue, any othersuitable fastener, or combinations thereof. The fastener fastening theside plate 150 to the chassis frame 101 can be sealed using a sealingdevice, for example a standard silicon rubber o-ring washer for amachine screw, another sealing device or sealant, or combinationsthereof.

As shown in FIG. 14, the side plate 150 can include an interface 152 toallow a drive module 130 to transfer mechanical energy out of thechassis 100 to a mobility device 200. The interface 152 can enable amobility assistance module 140 to transfer mechanical energy out of thechassis 100 to a mobility assistance device 300.

As shown in FIG. 14, the mechanical energy can be transferred from thedrive module 130 to the mobility device 200 using a rotatable axlesleeve 153, but may alternatively be an axle. The rotatable axle sleeve153 can be a rotating sleeve surrounding a seal around an axle 149,allowing the seal to rotate while maintaining a watertight seal aroundan axle 149. The seal can occlude more than water, including otherliquids, gases, dirt, debris, and any other external or internalcontaminants. The inside of the rotatable axle sleeve 153 can include apair of seals 155, 156, for example single lipped o-ring seals, at leastone static seal, or combinations thereof. The seals 155, 156, can bemade of neoprene, any suitable elastomer or sealing material, orcombinations thereof. The space 157 in between the seals 155, 156 can befilled with a lubricant, such as grease, graphite, oil, any othersuitable lubricant, or combinations thereof. The watertight seal canretain a lubricant and provide a long service life. The rotatable axlesleeve 153 can be adapted to rotate with a ring gear 139 using at leastone pin 154, attached in any suitable fashion, or combinations thereof.The rotatable axle sleeve 153 can include a bearing 158, for example toallow an axle 149 inside the rotatable axle sleeve 153 to rotate freely.

As shown in FIG. 14, the rotatable axle sleeve 153 can be held inposition in the side plate with a hearing 160. The rotatable axle sleeve153 can be sealed using a sealing device 161. The sealing device 161 canbe a watertight double lipped o-ring seal, and a lubricant can beapplied to the sealing device to provide a long service life. The sealcan occlude more than water, including other liquids, gases, dirt,debris, and any other external or internal contaminants. The sealingdevice 161 can be made of neoprene. The sealing device 161 can be placedon the inside of a flanged divider 162 in the interface 152 of the sideplate 150. The bearing 160 can be placed on the outside of the flangeddivider 162 of the interface 152 of the side plate 150. The bearing 160can be fastened in place using a fastener 159, for example a snap ring159, but any suitable fastener may be used. The bearings 158, 160, canbe a sealed ball bearing, for example a rugged sealed stainless steelball bearing, but may alternatively be a shielded bearing, a ceramicbearing, a chrome plated steel ball bearing, a thrust bearing, a sleevebearing, a radial bearing, or any other suitable bearing.

As shown in FIGS. 14 and 15 the side plate. 150 can include an axle 169,for example a motorized axle or a dead axle, attached to a manuallyactuated mount 167. The manually actuated mount 167 Can enable therotation of the axle 169 and be held in a fixed position with a pin 168.The pin 168 may be removed and the rotation of the axle 169 may beadjusted manually and locked into at least one specific position with apin 168, but any suitable number of adjustable positions may bepossible. The axle 169 may be actuated by a mobility assistance module140 or any other suitable driving mechanism. The axles 149, 169 can bekeyed on the outer end, for example the key 163 can be hex shaped,square, triangular, splined, other suitable shapes, or combinationsthereof. The axles 149, 169 may be splined, keyed, or combinationsthereof. The outer ends of the axles 149, 169, outside the keying, canbe threaded or adapted to fasten a mobility device 200 and/or a mobilityassistance device 300 to the axle 149, 169.

The power supply 110 can provide power to the robotic system 10. Thepower supply 110 can be the BB2590 military standard batterymanufactured by Bren-tronics, but BB4590 military standard battery,nuclear batteries, any other suitable battery, fuel cell, solar panel,power supply, or combinations thereof. The power supply 110 can beremovable to allow repair, recharging, refueling, and/or replacement. Asshown in FIGS. 12 b, 13 and 16, the power supply 110 can be insertedinto a second compartment 104 of the chassis frame 101, and connected tothe control module 120 using a power supply connector 111, for examplevia a standard BB2590 connector designed to interface with a singleBB2590 standard military battery, but may alternatively interface with aBB4590 standard military battery, a fuel cell, a lithium battery, arechargeable battery, a nuclear battery, an alkaline battery pack, solarpanels, power cables, multiple BB2590 batteries, or any other suitablepower source or combination of power sources. The connector 111 can forma watertight connection with the power supply 110, but may also occludemore than water, including other liquids, gases, dirt, debris, and anyother external of internal contaminants. The power supply 110 can be aBB2590 military battery and can be inserted into the chassis 100 througha hole in the chassis side plate 150. The power supply 110 can besecured in a second compartment 104 of the chassis frame 101 with afastener, a door 115 closed with a draw latch 116, a clamp, thumbscrew,or other suitable latch mechanism or fastener, or combinations thereof.A toolless and quick mechanism to enable the quick change of a powersupply 110 can be used.

As shown in FIG. 11 and 19, the control module 120 can be adapted tomanage power output from the power supply 110, control the drive module130, and/or control a mobility assistance module 140, payload modules170, or any other modules that may be attached to the robotic system 10.As shown in FIG. 18, the control module 120 can include at least onemicroprocessor 121, and a power module 122. In a further variation thecontrol module 120 can include an operator control module 126, and mayinclude at least one payload control module 128.

The microprocessor 121 can manage and control input and output from thedifferent modules within the control module. The microprocessor 121 canbe a (re)programmable microprocessor, an FPGA, an ASIC, a circuit, anyother suitable control logic, or combinations thereof. Themicroprocessor 121 can be programmed with software logic to enable therobotic system 10 to run independent of any human operator, run apre-configured program (e.g. secure the area, map the area, travel frompoint A to point B, collaborate with other robots), or any othersuitable program. The microprocessor can be connected to a tilt sensoror tilt switch to detect if the robotic system 10 is inverted, and ifthe robotic system 10 is inverted, the microprocessor 121 may thenexecute a control program to flip the robotic system 10 to anon-inverted position and allow the robotic system 10 to resume normaloperations.

The power module 122 can monitor the output of the power supply 110, andreset or regulate the power supply 110 when the output is either aboveor below a desired threshold. The power supply 110 can be a BB2590battery. The BB2590 battery can be a multi-purpose military battery, andcan have protection logic and/or circuitry that turns off the batteryWhen a current output specification is exceeded. The control module 120can enable a power supply 110, for example a BB2590 military battery, tocontinue providing normal currents after the high current protection hasbeen triggered, enabling such a power supply to be used for applicationsusing high currents (even momentarily), such as driving an electricmotor, or when a vehicle or device using an electric motor becomesjammed, dropped or otherwise stressed. The BB2590 battery can be resetby dropping the current draw to below approximately 2 milliamps, and theBB2590 will again output current.

As shown in FIG. 21, the power module 122 can include a connection tothe power supply 110, a delay circuit 92, a voltage monitor 93, a enableswitch 94, and a current throughput switch 95. The power module 122 canhave one cell protection circuit 91, and a charging circuit 96.

As shown in FIG. 21, the power supply 110 is shown as two batteries toeach represent. the two groups of four cells of the standard BB2590battery. The cell. protection circuit 91 can prevent the group of cellswith the highest voltage from charging the group of cells with thelowest voltage, which could trigger the protection circuitry of theBB2590 battery. The cell protection circuit 91 can be at least onediode, for example one diode per group of four cells, but may be anysuitable circuit.

A delay circuit 92 functions to reduce and or turn off the current drawfor a period of time, which enables a BB2590 to reset. The delay circuit92 can be controlled by a voltage monitor 93, which functions to monitorthe voltage output from the power supply 110 and trigger a delay in thedelay circuit 92 (for example, while a capacitor in the delay circuit 92charges) to reset the power supply 110 when the power supply outputdrops below (or alternatively spikes above) a threshold. The delaycircuit 92 can discharge (the charge from the capacitor) quickly andcharge slowly, and can provide most of the delay while a capacitorcharges. The power supply 110 can reset sometime after a capacitor inthe delay circuit 92 has started recharging. The voltage monitor 93 caninclude a voltage divider, which can control an N-channel mosfetcontrolling a P-channel mosfet. As shown in FIG. 11, the P-channelmosfet of the voltage monitor 93 can output Vcontrol, which can powerthe control module 120 and may provide the voltage Vcontrol for thecharging circuit 96. When the delay block is lowering the voltage acrossthe voltage divider, the N-channel mosfet in the voltage monitor 93turns off the P-channel mosfet, cutting off power to Vcontrol which cansend a power off signal to a enable switch 94, cut off power to thecontrol module 120, and may cut off power to the charging circuit 96, orcombinations thereof. For a hard reset, the power to Vcontrol and Voutcan both be reset and/or cycled simultaneously.

The enable switch 94 can be an N-channel mosfet, a P-channel mosfet, anyother suitable switch, or combinations thereof. The enable switch 94 canbe connected to an N-Channel mosfet of a current throughput switch 95.An N-channel mosfet of the current throughput switch 95 can control atleast one P-channel mosfet, for example two P-channel mosfets as shownin FIG. 21. Two P-channel mosfets, one per cell of a BB2590 battery, canbe more power efficient than a single P-Channel mosfet, however, anysuitable configuration of N-channel and P-channel mosfets, or any otherswitching mechanism and/or circuit may be used. The current throughputswitch 95 can include a diode, or two diodes, for example one diodeconnected to each P-channel mosfet. The diodes in the current throughputswitch can be high-powered schotkey diodes rated for 80-100 Amps, butcan be ally suitable diode. The current throughput switch 95 can includean enable signal, Vout_enable, connected to a pin of the microprocessor121 the control board 120, enabling the microprocessor 121 to controlthe output of the N-channel and P-Channel mosfets and this turn thevoltage Vout on and off using an enable signal

The power module 122 can include a charging circuit 96. The chargingcircuit 96 can include a P-channel mosfet controlled by an N-channelmosfet. Any suitable combination of N-Channel and P-channel mosfets, orany other suitable switching device may be used. The charging circuit 96can be controlled by an enable signal, Vcharge_enable, can be connectedto a pin on the microprocessor 121 on the control board 120. When thecharging circuit 96 is enabled, the P-channel mosfet can allow currentto flow through the resistor and the diode of the current throughputcircuit 95, for example, to charge any capacitors connected to Vout,such as the capacitors of a motor controller, or an air compressor.However, capacitors connected to Vout can be charged without thecharging circuit 96; the charging circuit 96 can function to limit themax current that the capacitors can draw from the power supply 110,otherwise each time the capacitors are charged, the protection circuitryof the power supply 110 (for example a BB2590 battery) may be triggered.

The power module 122 can operate as follows. The BB2590 is eitherinoperable, replaced, or has exceeded an output limit, is not outputtingpower and requires a low current draw below 2 milliamps to be reset. Thevoltage Vbat_low_current is low and the delay circuit 92 turns off theenable switch 94 and can turn off Vcontrol, power to the control board120. The current throughput switch 95 and the charging circuit 96 can benot powered while the BB2590 battery is reset. Once the BB2590 batteryhas been reset, the delay circuit 92 is no longer providing a delay asthe capacitor is recharging or has been recharged, and the voltagemonitor 93 provides power to the control module 120, and disables theenable switch 94. The microprocessor 121 of the control module 120 thencan enable the charging circuit 96 to charge any capacitors connected toVout (e.g. motor controller applications require large electrolyticcapacitors), but this may not be necessary if the application does notrequire capacitor charging. The microprocessor 121 of the control module120 can disable the charging circuit 96 after an appropriate amount ofcharging time, and enable the current throughput switch 95, enablinghigh current flow to Vout. The entire process takes approximately 0.33seconds, and a fast reset is potentially unnoticeable to the operationof the robotic system 10, and not substantially affect the operation ofthe robotic system 10 or the user experience.

The power module 122 may include a charge storage unit, which canfunction to maintain power to the power module 122 and/or themicroprocessor 121 if the power supply 110 is not supplying power. Thecharge storage unit may power the entire control module 120 while thepower supply 110 is not supplying power. The charge storage unit can beat least one capacitor, ii at least one battery, an alternative powersupply, any other suitable source of power, or combinations thereof.

As shown in FIGS. 19 and 20, the operator control module 126 can receiveuser input to control the robotic system 10. The operator control module126 can include a remote operator control module 125, and may include atleast one payload control module 128.

The operator control module 126 may enable the selection of apre-configured control program (e.g. secure the area, map the area,travel from point A to point B, collaborate with other robots), whichmay or may not require additional user input, or any other suitableprogram. The operator control module may include a switch to selectbetween multiple programs. The switch may be a keypad, a selector dial,a firmware reprogramming, a sequence of button pressings, any othersuitable device or method of selecting a program, or combinationsthereof.

The operator control module 126 can be connected to a remote usercontrol module 125, for example the operator control module 126 can beconnected to at least one remote user control module 125 using at leastone wireless link. The control circuitry may be distributed in allyfashion across the remote user control module 125 and the operatorcontrol module 126. For example, the control circuits (e.g.,microprocessors) can be on the operator control module 126, the roboticsystem 10, a payload attached to the robotic system 10, or combinationsthereof. The processing can be split in any combination between theoperator control module 126, the robotic system 10, a payload attachedto the robotic system 10. For example, any of the operator controlmodule 126, the robotic system 10, and a payload attached to the roboticsystem 10 can perform all, some or none of the processing required bythe operator control module 126, the robotic system 10, and a payloadattached to the robotic system 10.

The operator control module 125 can be adapted to receive user inputusing at least one user input device 124. The user input device 124 canbe a directional joystick, but may additionally or alternatively includedirectional path, trackballs, buttons, microphones receiving inputcontrol signals via voice), mobile phone keypads, computer keyboards, acomputer mouse, a touchpad, any other suitable input device, orcombinations thereof. The operator control module 125 can process userinput with a microcontroller, for example a programmable interfacecontroller (PIC), a simple input processing circuit, such as a buttondebouncing circuit, or combinations thereof. The control signals can betransmitted from the remote operator control module 125 to the operatorcontrol module 126 on the control board 120 of the robotic system 10using a transceiver. The transceiver can include an FM transmitter, forexample transmitting at approximately 410-480 MHz, but any suitabletransmitter and/or transmission carrier frequency may be used, includinga digital transmission link, a wireless networking link, WEE 1394 link,USB 1.0 2.0 3.0 link, any other suitable link, or combinations thereof.The transmitter can be connected to an antenna 123 tuned to thetransmission carrier frequencies of approximately 440-480 MHz. Theoperator control module 126 can include a transceiver, for examplehaving an FM receiver, and an antenna, connected to an antenna port 127(shown in FIG. 12 b). The control data can flow from the remote operatorcontrol unit 125 to the operator control module 126, and/or flow fromthe operator control module 126 to the remote operator control unit 125.

The remote operator control module 125 can be powered by a NiMHrechargeable battery, an AC adapter, a cigarette lighter adapter, aBB2590 battery, a solar cell, any other suitable power supply, orcombinations thereof. The rechargeable battery can be recharged througha power port 117, which may charge the battery from an AC adapter, acigarette lighter adapter, a BB2590 battery, a solar cell, any othersuitable power supply, or combinations thereof.

The casing of the remote operator control module 125 can protect thecomponents inside. The casing can be made of ABS (or another lowmoisture absorption polymer), aluminum, titanium, nylon, other metals orpolymers, wood, carbon fiber, any other suitable material, orcombinations thereof. The case can be sized such that the entire remoteoperator control module 125 will fit into a pair of standard militaryissued cargo pants (with the antennas removed—the antennas can bequickly detachable for storage). For example, the case can be about 280mm by about 160 mm. The remote operator control module 125 can be smallenough (e.g., about 300 mm by about 150 mm) that a user may control therobotic system 10 with one hand, for example enabling a soldier or arescue worker to hold tools, weapons, or emergency supplies in theirother hand.

As shown in FIGS. 12 b and 13, a payload module 170 can include aninterface to the control module 120, to enable the control module 120and/or the operator control unit 126 of the control module 120 tocontrol the devices in the payload module 170. As shown in FIGS. 19, 20,24 and 25, the operator control module 126 can include at least onepayload control module 128 which can control and transmit data to and/orfrom any payload modules 170 attached to any payload interfaces 171,172, 173. The payload control circuitry may be distributed in anyfashion across the remote user control module 125, the payload controlmodule 128, and the operator control module 126.

The payload could have one of more processors, or no processors. Thecircuitry for an external payload could either be in that payload, or inthe compartments. All of the circuitry of the payload control module 128could be contained within the robotic system 2. All of the circuitry ofthe payload control module 128 could be in the payload 170, or the robotsystem 10 could include a separate microprocessor 121 and the payload170 could include a separate microprocessor and the two processors canbe configured to communicate data and control signals with each other. Aseparate antenna could enable a microprocessor within a payload tocommunicate directly with an operator control module 126 or a remoteoperator control module 125. All of the processing can be handled bymicroprocessors on the robotic system 10, on processors on the remotecontrol 125, on processors on a module/payload added to the roboticsystem 10, or the processing can be split up and handled between any ofthose locations in any amount.

A video payload 190 can enable a remote user to view visual informationon the remote operator control module 125. The video payload 190 canhave a camera 192 that can detect visible light, infrared (IR)radiation, ultraviolet (UV) radiation, or combinations thereof. Thevisual information can be anything within the visible, and/or IR and/orUV range of the camera 192 of the video payload 190 in the roboticsystem 10, status information from the robotic system 10, includingvideo feeds, audio feeds, position, remaining battery life, systemtemperature, or any other suitable information, or combinations thereof.The remote operator control module 125 can include an antenna 196, avideo receiver 197, and display interface 199 for displaying datareceived from a video payload 190. The payload control module 128 caninclude an antenna 195 connected to an antenna port 129 (shown in FIGS.12 b and 13) connected to a video transmitter 194. The payload controlmodule 128 can include conditioning circuitry 193 for the camera 192.

An audio payload 180 can enable a remote user to communicate withtwo-way audio communication from the remote operator control module 125to anyone or anything within audible range of the audio payload 180 ofrobotic system 10. The remote operator control module 125 can include amicrophone 188 and speaker 189 for capturing audio to send to an audiopayload 180 and playing back audio received from an audio payload 180.The remote operator control module 125 can include an audio transceiver186 and an antenna 179. The payload control module 128 can include andantenna 187, an audio transceiver 185, conditioning circuitry 183, amicrophone 181, and speaker 183.

As shown in FIGS. 12 b and 13 the robotic system can include at leastone payload interface 171, 172, and 173. A payload interface 171. 172,173 can be attached to the chassis frame 101, and/or the side plate 150of the chassis 100. The payload interfaces 171, 172, 173 can function asaccessibility panels for service, maintenance, and inspection. When thepayload interfaces 171, 172, 173 are not in use or are in use they canbe covered with, respectively, the first, second and third interfacecovers 74. 76 and 176. The interface covers 74, 76 and 176 can be madeof aluminum sheet metal, a polymer with low moisture absorptionproperties such as ABS a clear material such as polycarbonate orcombinations thereof. A cover 74, 76 or 176 and/or a payload 170 can beattached to a payload interface 171. 172, 173 using machine screws, orany suitable fastener. The space between the cover 74, 76 and 176 and/ora payload 170 and payload interfaces 171, 172, 173 can be sealed using asealing device 177. Except for the site and shape, the sealing device177 can be identical to the sealing device 151 as described above. Thepayload interfaces 171, 172, 173 may include connections 174 to thecontroller module 120.

A payload module may include any suitable device attached to the chassis100. As shown in FIGS. 12 b and 13, a primitive payload is a flat,“pickup truck style” cargo bed 170, for example including a carryinghandle 178. One or more carrying handles 178 may be located on thebottom, side, or top of the chassis frame 100. The carrying handles 178can act as a roll bar. Supplies, tools, documents other suitable item tobe placed in the robotic system 10 for transport, or combinationsthereof can be placed in and/or secured to the cargo bed payload 170.

As shown in FIG. 12 b, 13, 20 and 24, the payload interface 172 canhouse an audio payload 180. The audio payload 180 can be slid in fromthe top and fastened to the body frame. The audio payload 180 can beviewed in diagrams 5 a, 8, and 10 a, There is a noticeable speakergrill, round microphone hole, and antenna mount. The speaker is recessedin the frame.]. The audio payload 180 can transmit and/or receive audio.The audio payload 180 can include at least one microphone 181, 188, atleast one speaker 182, 189 conditioning circuitry 183, and an audiotransmission link 184.

The microphone 181, 188 functions as a transducer to convert audiosignals into electronic signals. The microphone 181, 188 can be anelectret microphone, laser microphone (e.g., for sound vibrations fromsmoke or fog in the air), a piezoelectric microphone, gel microphone,diaphragm microphone, a vibration detection microphone (e.g., adiaphragm microphone, a stethoscope, a gel/liquid sensor microphone(e.g., placed on the trachea to detect vocal vibrations) which can betouched to a metal or concrete surface, such as stairways, rails, orroads and detect vibrations and/or sounds), a parabolic microphone, ashotgun microphone, any other suitable microphone, or combinationsthereof. The microphones 181 may be the same or a different type ofmicrophone than the microphone 188. The microphone 181, 188 can bewaterproof.

The speaker 182, 189 can function as a transducer to output audiosignals received from the audio transmission link. The speaker 182, 189can be sealed and waterproof. The speaker 182, 189 may be replaced orbypassed with a headphone jack to output to headphones, audio recording,other suitable audio output, or combinations thereof.

The conditioning circuitry 183 can function to amplify and/or filter theaudio signals. The signal received from the microphone 181 can beamplified before being transmitted by the audio transmission link 184.The signal output to the speaker 182, 189 can be passed through apre-amplifier, and then a speaker amplifier before being output by thespeaker 182, 189. The conditioning circuitry 183 can be integrated intothe audio payload module 180. The conditioning circuitry 183 may beintegrated in the operator control unit 126, and/or in the controlmodule 120.

The audio transmission link 184 can transmit the audio signal receivedfrom the microphone 181 to an operator control unit 126, and transmitaudio received from a microphone at the operator control unit 126 to thespeaker 182 in the audio payload module 180. The audio transmission link184 can be a wireless transmission link, a wired transmission link, anyother suitable transmission link, or combinations thereof. The audiotransmission link 184 can be an analog FM transmission link, a digitaltransmission link, wireless networking link, IEEE 1394 link, USB 1.0 2.03.0 link, any other suitable link, or combinations thereof. The audiotransmission link 184 can include at least one audio transmitter and oneaudio receiver, for example two audio transceivers 185, 186, andantennas 187. The audio transmission link 184 can be integrated in theaudio payload module 180 of the robotic system, integrated in thecontrol module 120, or combinations thereof. The antenna 187 can bemounted on the audio payload module 180 The antenna 187 can be attachedto a control module antenna port 127, 129. The audio transmission link184 is not present, and the audio is recorded for later retrieval andplayback.

The audio transceiver 185, 186 can transmit the audio data usingapproximately a 433 MHz carrier frequency. The antennas 187 can berugged and coated in rubber. The antennas 187 can be optimized totransmit and receive data on an approximately 433 MHz earlier, and/ortransmit and receive data in any suitable frequency range.

The data transmissions between the audio payload 180 and the usercontroller 125 may interfere with the transmission of control signalsbetween the user controller 125 and the control module 120 due to thenear overlap of carrier frequency ranges for control data and audiodata. The control data may be considered to be of higher importance thanthe audio data transmitted between the remote user controller 125 andthe audio payload 180, but alternatively the audio data may be of higherimportance (for example on a surveillance mission, where the robotsystem is primarily stationary and listening). To avoid interference, atime division multiplexing scheme can be used, the simplest examplebeing a half duplex communication mode; for example, the robotic systemcan turn off the audio data transmission partially or completely whilethe robot system 10 is receiving control data and/or in motion, thusremoving any possibility of interference between the audio datatransmission and the control signals for the robot system.Alternatively, the control data may be partially or completely disabledwhile the audio data transmissions are performed. Additionalmultiplexing schemes may be used to prevent or reduce interferencebetween control signal transmissions, audio data transmissions, videodata transmissions, other payload data transmissions, and Other(possibly external) sources of interference.

As shown in FIGS. 13 and 26, the payload interface 171 can house a videopayload module 190 that can include a camera 192, a lighting system 191,conditioning circuitry 193, a video transmission link 198, and a display199. The payload interface 171 can be protected with a clearPolycarbonate panel cover 176, and sealed with a sealing device 177 toseal the payload interface 171 and make the payload interface 171waterproof and/or dustproof, while simultaneously allowing a videopayload to capture video. The payload interface 171 may be uncovered,shuttered, covered with mesh, or any other suitable protection.

The lighting 191 of the video payload module 190 can be both visible andinfrared light, for example visible and infrared Light Emitting Diodes(LEDs), any suitable LEDs, any incandescent, fluorescent, phosphorescent(glow in the dark), chemical, combustion, laser, or other light source,or combinations thereof. The lighting 191 can be controlled via themicroprocessor 121 of the control module 120, controlled by anadditional microprocessor, or combinations thereof. The microprocessor121 of the control module 120 can generates on, off, or variable dimminglevel signals for the lighting system 191. The control signals for thelighting 191 may be transmitted from the operator control unit 126 tothe microprocessor 121. The lighting 191 may be automatically turned onand off by the microprocessor 121 in response to ambient light levelsdetected by an ambient light sensor.

The camera 192 can capture image data. The camera 192 can be one, two ormore cameras, for example an analog video camera capable of detectingboth infrared and visible light, a digital video camera, a still camera,a film camera, a forward looking infrared (FLIR) camera, any othersuitable camera, or combinations thereof. The camera 192 can be adaptedto feed a video signal into conditioning circuitry 193.

The conditioning circuitry 193 can provide signal processing and/orsignal switching, and/or filtering to the video signal. The conditioningcircuitry 193 can include video feed switching and/or video feed overlayfunctionality, for example the conditioning circuitry 193 can have avideo feed overlay chip that can be configured to switch and/or overlayvideo feed. The video feed overlay functions to combine display textand/or images in an overlay in the video feed signal, for exampleidentifying the camera. view, identifying the video feed, displayingbattery life, sensor output data, positioning data, or any othersuitable application. The conditioning circuitry 193 can include a videofeed switch, which can be controlled by the microprocessor 121 of themain control module 120. The conditioning circuitry 193 may includefiltering or amplifying circuitry to improve the quality of the videofeed. The conditioning circuitry 193 can be integrated in the payloadmodule, but may alternatively be integrated in the operator control unit126, or anywhere in the control module 120.

The video transmission link 198 can transmit the video signal to anoperator control unit 126. The video transmission link 198 can be awireless transmission link, a wired transmission link, other suitabletransmission link, or combinations thereof. The video transmission link198 can include a video transmitter 194, antennas 195 196, and a videoreceiver 197. The video transmission link 198 can be integrated in thecontrol module 120 of the robotic system, and can be integrated in thepayload module 190. The video transmission link 198 can be an analog FMtransmission link, a digital transmission link, wireless networkinglink, IEEE 1394 link, USB 1.0 2.0 3.0 link, other suitable link, orcombinations thereof.

The video feed may be recorded and/or transmitted via a videotransmission link. The video transmitter 194 can convert a video signalinto a communications signal and transmit the communications signal to avideo receiver 197 using an antenna 195. The video receiver 197 canreceive a communications signal from the video transmitter 194 via anantenna 196, and convert the communications signal into a video feed andoutput the video feed to a display 199.

The antennas 195, 196 can be adapted to receive signals in the 900-1100MHz range. The antennas 195, 196 can be coated with rubber andruggedized The antennas can be rubber duck antennas. The antennas can beshear resistant. The antennas can be joined to the body 20 at a hingedor otherwise articulatable mount. The antenna 195 for the videotransmitter 194 can be connected to one of the antenna ports 127, 129 asshown in FIGS. 12 b and 13.

The display 199 can display the video feed from the camera 192 and anyoverlaid information that may be included in the video feed from theconditioning circuitry 193. The display can be an LCD screen, an LEDscreen, an OLED screen, a TFT screen, other suitable screen, orcombinations thereof

The transmission frequencies of the video data, audio data, and controldata can be approximately 900-1100 MHz, 433 MHZ, and 480 MHz,respectively. These ranges for the three separate data channels canminimize or prevent interference. The video signal can be transmitted ata high enough frequency to sustain a high data rate and avoid anyinterference with the audio and control signals. In certain operatingconditions, the control data and the audio data may interfere with eachother. The control module 120 can turn off the audio payload 180 Whilecontrol signals can be received in the user control module 126.

Additional payload modules may include any number of sensors, input,and/or output devices, tools, equipment and/or supplies, including stillcameras, film based cameras, forward looking infrared cameras, boomcameras, fisheye cameras, pan-tilt-zoom camera systems, light intensitysensors, electromagnetic radiation sensors, sound recorders, laser rangefinders, navigation systems, Global Positioning System (GPS) sensors,depth sensors, pressure sensors, radiation sensors, chemical sensors,pathological sensors, biological sensors, fire extinguishers, chemicaldecontamination systems, medical equipment, medical supplies, foodsupplies, water supplies, construction supplies, defibrillators, lethaland non-lethal weapons or munitions, tasers, explosive disruptors,robotic arms, equipment carriers, equipment actuators, a precisionturret system, a robotic hook, an actuated poker, a pressurized blower,compressed gas (e.g., air, carbon dioxide, nitrogen), a blower fan, avacuum device, additional batteries, biometric devices any othersuitable device, or combinations thereof. NOTE: more payloads:marsupial, marsupial water vessels, UGV's or UAV's, toys, constructionequipment, farming equipment, high voltage repair equipment, personalassistance devices, 3-dimension camera, information transmission systems(e.g., RF modules with additional antennas), disruptors such as signaljammers or shape charges, x-ray systems, manipulator arm, 360-degreecamera, offloaded processors for data processing (e.g., to supplementthe processor(s) on board the such as video processing and/or used fortiered processing, data storage such as hard drives or flash memory, orcombinations thereof.

As shown in FIGS. 11, 14 and 22, the drive module 130 functions toprovide mechanical energy to the mobility device 200. The drive module130 can be mechanically linked to the mobility device 200, for examplethe drive module can be linked to the mobility device 200 using a pinion134 adapted to rotate a ring gear 155, and the ring gear 155 can beadapted to rotate a rotatable axle sleeve 153 connected to a mobilitydevice 200. As shown in FIG. 22, the drive module 130 can include atleast one gearbox 132, at least one motor 134, and at least one motorcontroller 136. As shown in FIG. 22, the drive module 130 can include acooling device 138. The drive module 130 can be located near the centerof the chassis frame 101, for example in an inner wall of a chassisframe compartment 103, which improves stability. The chassis 101 can bemade of a heat absorbing material, such as a metal. the drive module 130can be in contact or close proximity with a wall of the chassis frame101, which can allow the chassis frame 101 to provide passive coolingfunctionality. functioning as a heat sink and transferring heat awayfrom the drive module 130. Additional passive cooling may be integratedinto the drive module mount, either on the drive module 130 or in thechassis frame 101.

The motor controller 136 functions to provide power and control signalsto the motor 134. The motor controller 136 can be adapted to receivepower from a power supply 110 and control signals from a control module120. In an alternative variation, the motor controller 136 may also beadapted to control a cooling system 138. The motor controller 136 can bea brushless motor controller, for example a brushless motor controllerwith a digital control interface, an open loop for non-feedback) motorcontroller or combinations thereof.

The motor 134 functions to provide mechanical power to the gearbox 132.The motor 134 can be adapted to receive control signals and power fromthe motor controller 136. The motor 134 can be an electric motor, a fuelpowered engine, or any other suitable type of motor 134, or combinationsthereof. The motor 134 can be a brushless motor for example a brushlessmotor with Hall effect sensors, an open loop controlled motor, abrushless motor, any other suitable motor or combinations thereof. TheHall effect sensors can provide good low speed control and are moreenergy efficient, the open loop mode (without using hall effect sensors)requires more power.

The gearbox 132 can adapt the mechanical output of the motor 134 to ahigher or lower output for the mobility device 200. The gearbox 132 canbe an interchangeable gearbox, and may be adjusted for differentmobility devices (e.g. different sized wheels), different power/torquerequirements, or any other suitable application. The gearbox 132 can beconnected to a pinion 131 adapted to rotate other gears connected to amobility device 200, and/or be connected to a mobility device 200directly.

The drive module 130 can include a cooling device 138. The coolingdevice 138 can regulate the temperature of the components in the drivemodule 130, and may also function to regulate the temperature of othercomponents within the chassis 100. The cooling device 138 can be acooling fan, for example an electric cooling fan, a heatsink, awater-cooling system, a refrigeration system, any other suitable coolingdevice, or combinations thereof. At least one cooling fan can be mountedon the motor, such that the airflow generated can flow over and aroundthe motor to regulate the temperature and provide targeted cooling. Fansmay also provide general system cooling, and/or cooling to otherelements in the chassis 100.

A mobility assistance module 140 can transfer mechanical energy to amobility assistance device 300. As shown in FIG. 23, the mobilityassistance module 140 can include a motor controller 146, a motor 144, asafety coupling 143, a gearbox 142, or combinations thereof.

Except as noted herein, the motor controller 146, the motor 144 and thegearbox 142 can be identical to the motor controller 136, the motor 134,and the gearbox 132 of the drive module 130. The gearbox 142 can beattached to a pinion 141, and the pinion 141 is adapted to rotate a ringgear 142 adapted to rotate an axle 149.

The safety coupling 143, functions to decouple the axle shaft 149 fromthe actuation of the motor 144 in the event of an impact or shock to themobility assistance device 300. As shown in FIGS. 17 and 18, themobility assistance device 300 can be a flipper 301, and the flipper 301may be popped, as shown by arrow 400 in FIG. 28, for example with atorque from about 15 Nm (11 lb.-ft.) to about 145 Nm (107 lb.-ft.), morenarrowly from about 45 Nm (33 lb.-ft.) to about 125 Nm (92.2 lb.-ft.),for example about 100 Nm (74 lb.-ft.) or about 45 Nm (33 lb.-ft.) oftorque at the axis of rotation. The flipper 301 can be popped, slammed,or hit against a hard surface or object in order to cause the safetycoupling to decouple and allow the flippers to be folded into a compactconfiguration for storage. The safety coupling 143 can be a ball detent,a torque limiter, an override coupling, any other suitable mechanismthat can be decoupled, or combinations thereof. The safety coupling 143can include an automatic-re-engage functionality, an actuated and/ormanual re-engage function, which may use a solenoid or other suitableactuator to re-engage the safety coupling 143, or combinations thereof.

The device can have a clutch, or no clutch, in mechanical communicationbetween the engine and the axles 149 and/or 169. A continuous amount offorce can be required to fold the flipper into a storage configuration(e.g., with a clutch), or a single sharp impact can cause a release ofthe axle 149 from the actuation of the motor 144 (e.g., with a safetycoupling). The manually actuated and electronically actuated mobilityassistance devices can disconnect the mobility device to go from a readyposition to a stowed position, using a mechanical release (such as a pinor a ball detent, brake or clutch, tensioner). This can remove the needfor position feedback and autonomous rotation to a stowed position. Therelease can be electronically activated. The release may be activated bymotion, impact, impulse, the press of a button, pulling a lever,actuation by a motor. or any combination thereof. The sensitivity of theactivations can be adjusted, as can the number of activations needed torelease.

As shown in FIG. 11, the mobility device 200 can enable the roboticsystem 10 to move in the environment, which may include land, air,water, underground, underwater, outer space, asteroids, comets, otherplanets, other galaxies and moons. As shown in FIGS. 15 and 16, themobility device 200 can be a track 210 driven by at least one trackdrive pulley 220 and guided by at least one track guide 230. Themobility device 200 may be a set of wheels, skis, skates, propellers,wings, sails, blades, balloons, floats, paddles, oars, flippers,corkscrews, winches, pressure tanks, rockets, a hover system, the tracksdescribed above, any other suitable mobility device, or combinationsthereof.

As shown in FIGS. 15 and 16, the mobility device 200 can include twotrack chive pulleys 220, 221 and at least one-track guide 230 for eachtrack 210. The robotic system 10 can include two mobility devices 200,for example two tracks 210, one on each side of the chassis 100, or asingle track 210, or any other suitable number of tracks 210. Themobility device 200 can include a drive pulley track cap 240.

The track 210 can link together the motion of the track drive pulleys220, 221. The track may provide great mobility over a wide variety ofterrains. The tracks can be replaced with wheels alone. The track 210can be made of a polymer, for example a Thermo Plastic Urethane (TPU),other suitable polymers, elastomers, metal mesh, carbon fiber basedmaterials, metal links, metal-banded rubber, leather, any other suitablematerial, or combinations thereof.

The track 210 can be manufactured using at least one fixed length ofinjection molded track and then bonding the ends of at least one lengthtogether using a solvent, to create a continuous track 210 at a lowcost. Any alternative suitable solvent may be used for bonding polymertrack bands or any other polymer suitable for manufacturing track bands.Bonding the track bands may include using glue, a fastener such as astaple, rivet, or snap, or using a thermal process to melt the ends ofat least one band together. The track 210 also be molded as a singlepiece of continuous connected track.

As shown in FIGS. 15 and 16, the outside of the track band 210 caninclude outside nubs 211, 212. The outside nubs 211 and 212 can improvetraction on a variety of surfaces, for example when climbing overobstacles. The outside nubs 211, 212 can be substantially the width ofthe track, arranged perpendicular to motion vector of the track 210. Theoutside nubs can be any suitable width, and arranged in any suitabletrack pattern. The outside nubs 211, 212 can be uniformly ornon-uniformly spaced on the track hand 210.

The track 210 may be modified or adapted for special purposes instead ofthe regularly spaced outside nubs. The track 210 can haveapplication-enhancing, elements such as suction cups for climbing walls,spikes to improve traction on ice, or any other suitable modification oraddition to the track 210 for any other suitable purpose, orcombinations thereof.

As shown in FIGS. 15 and 18, the inside of the track 210 can includeinside nubs 216, 217, 218 that can keep the track 210 aligned on thetrack drive pulleys 220, 221 and the track guide 230. The outside edgeof the inside nubs 216, 217, 218 can be rounded from the outer edge ofthe track 210 toward the inside of the track 210. The outside edge ofthe inside nubs 216, 217, 218 can be squares, triangles, cylinders, orany other suitable shape. The inside nubs 216, 217, 218 can be uniformlyspaced around the inside edge of the track 210, can be spaced in anysuitable fashion. As shown in FIG. 17, the inside nubs 216, 217, 218 canbe spaced a fixed distance from the outer edge of the track 210 along anaxis perpendicular to the motion vector of the track 210. The spacingbetween inside nubs 216, 217, 218 along an axis perpendicular to themotion vector of the track 210 can be the width of the track drivepulley 220, and the track guide 230. The inside of the track 210 caninclude a depression 213. The depression 213 can increase the grip ofridges 214 on a track drive pulley 220. The insides of the track 210 canhave a smooth area 215, for example having no depressions 213. Theinside of the tracks can be entirely smooth, have repeated depressionsalong the entire length, or combinations thereof

The track drive pulley 220 can turn the track 210. At least one trackdrive pulley 220 on the track 210 can be adapted to be actuated by arotatable axle sleeve 153 through a hole in the side plate 150 of thechassis 100 connected to the drive module 130 either directly or througha. series of gears inside the chassis 100. The track drive pulley canhave nubs which can interface with divots on the inside of the track.The track drive pulley can be configured to grab the track and/or keepthe track aligned on the track drive pulleys.

As shown in FIG. 15, the pins 154 can be used to mechanically link orfix the rotatable axle sleeve 153 and the track drive pulley 220, 221,but other interfaces, techniques or parts may be used to mechanicallylink the rotatable axle sleeve 153 and the track drive pulley 220, 221.For example, glue, fastener, clips, or combinations thereof can be usedto the rotatable axle sleeve 153 and the track drive pulley 220, 221.

The track drive pulley 220 can be assembled from two components, aninner wheel hub 222, 223, and an outer wheel 224, 225. The track drivepulley 220 may be manufactured as a single, integrated component, orassembled from any number of components. The inner wheel hub 222, 223can be made of nylon, other polymers, metal, carbon fiber, concrete,cardboard, wood, any other suitable material, or combinations thereof.The outer wheel 224, 225 can be made from TPU, Santoprene, any othersuitable polymer, elastomer, or elastomer/polymer blend, metal, anyother suitable material, or combinations thereof. The inner wheel hub222, 223 can be manufactured using a molding process, machined, cast,extruded, stamped, any other suitable method of manufacture, orcombinations thereof. The outer wheel 224, 225 can be manufactured usingan injection molding process, machined, cast, extruded, stamped, anyother suitable method of manufacture, or combinations thereof.

Torquing a softer polymer with an axle made of a harder material, suchas a metal, may tear the polymer at higher torque levels. Thecombination of a metal rotatable axle sleeve 153 (or a metal axle 149)adapted to rotate a rigid polymer inner wheel hub 222, 223 attached to apolymer (e.g., a polymer softer than the rigid polymer inner wheel hub)outer wheel hub 224, 225, can enable a high torque mechanical output tobe distributed to a softer polymer outer wheel with shock and/or impactabsorption, and improve durability at the interface between the metaland polymer. For example, the modulus of elasticity of the inner wheelhubs 222 and 223 can be about 280,000 to 420,000. The modulus ofelasticity of the outer wheel hubs 224 and 225 can be about 8,000 to20,000. The modulus of elasticity of the axles 149, 169 can be about800,000 to 8,000.000. The ratio of the modulus of elasticity of theinner wheel hub 222 and 223 to the axle 149, 169 can be from about 0.5to about 100, more narrowly from about 1 to about 29, yet more narrowlyfrom about 1.9 to about 11 for example about 10. The ratio of themodulus of elasticity of the outer wheel hub 224 and 225 to the innerwheel hub 222 and 223 can be from about 0.5 to about 100, more narrowlyfrom about 1 to about 50, yet more narrowly from about 1.9 to about 11,for example about 10. The surface area of contact between the axle andthe inner wheel hubs 222 and 223 can be greater than or less than thesurface area of contact between the inner wheel hubs 222 and 223 and theouter wheel hubs 224 and 225.

The inner wheel hub 222, 223 can be assembled from two componentsfastened together. The components of the inner wheel hub 222, 223 can bewheel hub plates 222, 223 fastened together with self tapping screws,nuts and bolts, interlocking snaps, rivets, glue, any other suitablefastener, or combinations thereof. As shown in FIGS. 17 and 18, thewheel hub plates 222, 223 can be fastened together in such a manner thatthey interlock (forming an interlocking hub) around a portion of theouter wheel 224, 225, such that the inner wheel 222, 223, and the outerwheel 224, 225 can rotate together.

As shown in FIGS. 15 and 18, in a variation of the invention, one of thewheel hub plates 223 can include a keyed interface, for example ahex-shaped keyed interface, adapted to rotate a shaft connected to amobility assistance device 300. The other inner wheel hub plate 222 caninclude a bearing to interface between an axle 149 and the inside of thetrack drive pulley 220. The inner wheel hub plate 222 can include aninterface 226 for the rotating axle sleeve 153. The inner wheel hubplate can be connected to the rotating axle sleeve 153 using pins 154, aconnection to an axle 149, any other suitable actuator, or combinationsthereof. The inner wheel hub plate 222 can include a ball bearing 219located between the center of the inner wheel hub plate 222 and the axle149.

As shown in FIGS. 5-6, the outer wheel 224, 225 can include at least onetier of supporting members arranged radially or substantially radially,from the inner wheel hub 222, 223 to the outer rim of the outer wheel224, 225. The outer wheel 224, 225 can include 2 tiers of supportingmembers arranged radially, where the first tier of supporting members222 connects the inner wheel hub 222, 223 to an intermediate rim, andthe second tier of supporting members connects the intermediate rim withthe outer rim of the outer wheel 224, 225. The supporting members can bespaced evenly around the outer wheel 224, 225, or be spaced unevenly orin any suitable fashion. The supporting members can be of the same orsubstantially similar thickness to the outer rim of the outer wheel 224,225, and/or any suitable thickness. Each outer wheel 224, 225 can haveone, two, three or more tiers of supporting members 221, 222. Thesupporting members (e.g., two or three) can reduce the weight, materialand cost of the outer wheel 224, 225 of the track drive pulley 220, 221and increase flexibility and shock absorption, while creating largerspaces within the outer wheel 224, 225 to improve the tolerance of thetrack drive pulley 220, 221 to foreign objects such as rocks, grass,twigs, which may get caught in the spaces between the supporting membersof the outer wheel 224, 225, and improve the ability of the track drivepulley 220, 221 to flex if a foreign object (e.g., a pebble and/or atwig) is introduced in between the outer wheel 224, 225 of a track drivepulley 220, 221 and the track 210. When a foreign object is caughtbetween the track 210 and the track drive pulley 220, 221, the pressurefrom both the outer wheel 224, 225 of the track drive pulley 220, 221flexing and the track 210 flexing and pressing on the foreign objectbetween the track 210 and the outer wheel 224, 225 can be large enoughto squeeze and throw the foreign object out from between the track 210and the outer wheel 224, 225 of the track drive pulley 220, 221 and canbe a self-cleaning functionality for the track 210, which can reduce oreliminate the need for manual track cleaning and a track cleaningsystem. The track and/or track drive pulley or other elements can bemade from a non-reinforced TPU or Santroprene flexible material

The self-cleaning function can allow the tracks 210 to be run looseragainst the track drive pulleys 220, 221. The tension of the track(which may vary with temperature) can be evaluated relative to thetrack's position with respect to the wheel cap. The outside edge of thetrack at the most contracted state of the track (i.e., highest tension)can be outside the radius of the wheel cap (e.g., to prevent the wheelcap from rolling against the ground instead of the track rolling againstthe ground), for example including the nubs on the track. At theexpanded state of the track (i.e., lowest tension), the cap andsideplate body can be no larger than the inside of the track (e.g.,enough to hold the track on the track drive pulley)] The track 210 canhave a track tension from about 0.4 N (0.1 lb_(f)) to about 534 (120lb_(f)). The outer wheel 224, 225 can include at least one ridge 214.The ridge 214 can interface with the depression 213 in the track 210 andimprove traction of the track drive pulley 220 on the track 210. Theridge 214 can be substantially uniformly spaced around the outer wheel224, 225, and parallel to the axis of rotation of the outer wheel 224,225, but any suitable pattern of ridges may be used. The ridge 214 canbe mated to at least one depression 213 in the track 210, but mayalternatively be any suitable shape.

During extreme operating conditions or rough terrain, for example, oneor more tracks 210 may be dislodged from or thrown off the track drivepulleys 220, the track drive pulley 220. The track guide 230 can keepthe track 210 aligned on the track drive pulley 220 and realign thetrack 210, for example, if the track 210 is off of the track drivepulley 220 or the track's alignment with the track drive pulley 220 ismaladjusted. The track guide 230 can be attached to the side plate 150of the chassis 100, for example the track guide 230 can be mounted onthe side plate 150 with machine screws, fastened to the side plate 150with rivets, glue, interlocking parts or other suitable fastener, orcombinations thereof. The track guide 230 may be integrated into theside plate 150 as a single piece for manufacture. The track guide 230may be fused with the side plate 150. The track guide 230 can guide thetrack 210 as the track 210 passes above and/or below the track guide230. The track guide 230 can guide the track 210 as the track 210 passesabove and/or below the track guide 230. The track guide 230 can be madeof lubricated nylon. another polymers, metal, carbon fiber, concrete,cardboard, wood, any other suitable material, or combinations thereof.The track guide 230 can be injection molded, cast, extruded, machined,stamped, cut, any other suitable method of manufacture, or combinationsthereof.

As shown in FIGS. 14 and 16, the side plate 150 of the chassis 100 canassist the track guide 230 or act independently in maintaining thealignment of the track 210 on the track drive pulleys 220. The sideplate 150 can be slightly larger than the inside diameter of the track210 when the track 210 can be stretched over the track guide 230 and therobot drive pulleys 220. The flanging of the side plate 150 relative thetrack 210 can interference fit against the track 210 prevent the track210 from being thrown or otherwise moved onto the chassis 100 and, forexample, getting stuck between the drive pulleys 220 and the chasses100. The side plate 150 can be slightly larger than the inside diameterof the track 210, and smaller than the outside diameter of the track210. The sideplate can protrude from about 1 mm (0.04 in.) to about 2 mm(0.08 in.) beyond the inside diameter of the track. The sideplate 150can provide additional track guidance. The robotic system 10 may operatewhile inverted.

As shown in FIGS. 11, 17, 18, and 26 through 29, the mobility assistancedevice 300 can assist the robotic system 10 in particular situationsand/or special terrain, for example climbing over objects, climbing upstairs, or navigating snow. The mobility assistance device 300 can be atleast one flipper 301 for each mobility device 200, and mayalternatively or additively have one or more skis, skates, propellers,wings, sails, blades, balloons, floats, paddles, oars, flippers,corkscrews, winches, pressure tanks, rockets, a hover system, othersuitable mobility assistance device, or combinations thereof. As shownin FIGS. 17 and 18, a flipper 301. so named for its shape resembling aflipper in a pinball machine, can include a track 310, a flipper pulley320, a track guide 330, and a pulley cap 340.

The track 310 of the flipper 301 can be identical to the track 210 ofthe mobility device 200. The same materials and manufacturing processescan be used for the track 210 and the track 310 (e.g., which can improvemanufacturability scalability and lower cost). The track 310 on theflipper 301 can be shorter than the track 210 of the mobility device200.

The flipper pulley 320 of the flipper 301 can be identical to the trackdrive pulley 220 of the mobility device 200. For example, the flipperpulley 320 can have an outer wheel 324 and inner wheel hub 323. As shownin FIGS. 17 and 18, the flipper 301 can include one flipper pulley 320.The flipper 301 can include additional pulleys. The flipper pulley 320can be adapted to rotate in tandem with the track drive pulley 220. Theflipper track 310 can move simultaneously with the track 210 of themobility device 200. The outside flipper track nubs 311 can be identicalto the outside main track nubs 211. The flipper pulley 320 and the trackdrive pulley can be linked via a rotatable axle sleeve 328. One end ofthe rotatable axle sleeve 32$ can be inserted in a mated interface(e.g., a hex interface as shown in FIGS. 17 and 18) of the inner wheelhub 323 of the flipper pulley 320. The ball bearing 319 and inner wheelhub plate 322 can be identical to the ball bearing 219 and the innerwheel hub plate 222, respectively. The other end of the rotatable axlesleeve 328 can be inserted in a mated interface of the inner wheel hub223 of the track drive pulley 220. The rotatable axle sleeve 328 canrotate about the axle 149 for example with lubrication, a ball bearing,or other suitable bearing, or combinations thereof. The rotatable axlesleeve 328 can be molded from a rigid polymer or machined from aluminum,alternatively be nylon, polymer, metal, other suitable material, orcombinations thereof.

As shown in FIGS. 17 and 18, the flipper track guide 330 can keep theflipper track 310 centered on the flipper pulley 320 and realign thetrack 310 if the alignment is maladjusted. The track guide 330 can bemade of lubricated nylon, other polymers, metal, carbon fiber, concrete,cardboard, wood, any other suitable material, or combinations thereof.The track 310 can slide over the track guide 330. The track guide 330can be lubricated, as shown The track guide 330 can be injection molded,cast, extruded, machined, stamped, cut, any other suitable method ofmanufacture, or combinations thereof. The flipper track guide 330 caninclude additional support structures to improve the strength and shockabsorbing capabilities of the flipper track guide, for example areinforced ribbing pattern machined or molded along the internal wall ofthe flipper track guide 330, any suitable support structure, orcombinations thereof. The flipper track guide 330 can be attached to atleast one track guide arm 331, for example two track guide arms 331, and332.

The track guide aims 331, 332 can be made of nylon, other polymers,metal, any other suitable material, or combinations thereof. The trackguide arms 331, 332, can be reinforced with a ribbing pattern or anyother suitable reinforcement structure along their length, which canimprove strength and enable lighter weight, flexibility, torque andshock absorption of the track guide arms 331, 332. One of the trackguide arms 331 can be attached to the rotatable axle sleeve 328. Therotatable axle sleeve 328 can rotate inside of a ball bearing 329located inside the track guide aim 331. The ball bearing 329 can be heldin place inside the track guide arm 331 by a snap ring 327 in a groovein the rotatable axle sleeve 328.

As shown in FIGS. 17 and 18, the mobility assistance device 300 caninclude a pulley cap 340. The pulley cap 340 can hold the second trackguide aim 332 in place and rotate the guide aim 332 about the axle 149when the axle 149 rotates the pulley cap 340, thus actuating the entireflipper 301. The pulley cap 340 can assist the track guide 330 and theflipper pulley 320 in keeping the track 310 aligned on the flipperpulley 320.

As shown in FIGS. 14 through 18, the keyed inside 346 of the axle cap341 can be mated to the keying 163 of the axle 149, such that the axlecap 341 can rotate with the axle 149, and the pulley cap 340 can bekeyed to interface and rotate with the axle cap 341. A hex, square, ortriangular keying shape can be used for the keying of the inside 346 ofthe axle cap 341. The outside of the hex cap 341 can be keyed to fitinto a keyed interface in a pulley cap 340. The pulley cap 340 caninclude a gap 344 having dimensions to hold the second track guide arm332 in place, for example the pulley cap 340 can include a keying on theinside edge 343 of the pulley cap 349 mated to a keying 347 on thesecond track guide arm 332 such that when the pulley cap 340 rotates,the track guide aim 332 also rotates, which actuates the flipper 301when the mobility assistance module 140 rotates the axle 149. The gap311 can be from about 10 mm (0.4 in.) to about 60 mm (2.4 in.), forexample about 38 mm (1.5 in.). The pulley cap 340 can be fastened to theaxle 149 using a nut 348 over the threaded end of the axle 149. Theoutward facing portion of the pulley cap 340, can be convex, oralternatively a set of convex ridges arranged radially outward from thecenter of the pulley cap, such that if the robot system 10, were somehowpositioned on a side, the convexity will cause the robotic system 10 toroll to either side and allow the tracks 310 to contact a surface andregain mobility. The pulley cap 340 can be made of nylon, but mayalternatively be made of other polymers, metal, carbon fiber, concrete,cardboard, wood, or any other suitable material. The pulley cap 340 canbe manufactured using a machining process, injection molded, cast,extruded, stamped, any other suitable method of manufacture, orcombinations thereof.

The inside edge 343 of the pulley cap 340 can be mated with the roundededge of the inside nubs 316 of the track 310, for example, to guide thealignment of the track 210, and prevent the inside nubs 316 fromcarrying foreign objects in between the track 310 and the flipper pulley320. The pulley cap 340 can have ribs, varies, fins, or combinationsthereof, that can mate with the nubs on the track.

The actuation granularity of the flipper may be tuned by changing thegearbox 142 in the drive assistance module 140. The mobility assistancemodule 140 can be adapted to rotate the flipper 301 more than 360°,about 360° (i.e., a revolution), or less than 360° (e.g., less than anentire revolution), for example about 345°. The rotation of the flipper301 can be limited by the control software, and/or electronically,and/or mechanically limited, for example by a shear pin.

The mobility assistance module 140 can be omitted from the device. Theposition of some or all of the flippers can be manually actuated byremoving a pin 168 in manually actuated mount 167, manually actuatingthe axles 169, and replacing the pin 168. The flipper positions may beselected using a multiple, discrete position interface with a balldetent or friction clamp design, any other suitable fastening device ormethod, or combinations thereof.

The flipper track 310 can be guided by a roller wheel 335. The rollerwheel 335 can be capped on each side by roller wheel caps 336, 337 anyor each of which can be attached to the track guide arms 332 and 331respectively, and adapted to enable the roller wheel 335 to rotatefreely. As shown in FIGS. 17 and 18, the inner edge 339 of the trackguide cap can be mated to the inside nubs 316 of the flipper track 310.The track guide caps or roller wheel caps 336 and 337 can be made ofnylon, another polymer, a metal, or combinations thereof.

As shown in FIG. 26, the flippers 301 can be retracted, contracted, orrotationally folded, as shown by arrows 50, into as compact shape forstorage or carrying. The robotic system 10 can have a compact length 368of about 43 cm (17 in.).

The flippers 301 at one or both ends of the system 10 can have a safetyrelease coupling that can release the flippers 301 so the flippers 301can be rotated, as shown by arrow 50, with respect to the body 20. Thesafety release couplings can have mechanical, electro-mechanical,magnetic couplings, or combinations thereof. The safety releasecouplings can have detents and/or ball bearings. The safety releasingcoupling can release the flippers 301 when the torque, as shown by arrow400 in FIG. 28, applied to the flippers 301 exceeds from about 15 Nm (11lb-ft.) to about 145 Nm (107 lb-ft.), more narrowly from about 45 Nm (33lb-ft.) to about 125 Nm (92,2 lb-ft.), for example about 100 Nm (74lb-ft.) of torque at the axis of rotation. For example, the system 10can be dropped or slammed against the ground or a will to release theflippers 301 so the flippers 301 can rotate freely with respect to thebody 20.

As shown in FIG. 27, both flippers 301 can be extended, as shown byarrows 50, to achieve the maximum length of the device. The extendedlength 370 of the robotic system 10 with both flippers 301 extended canbe equal to or more than about 69 cm (27 in.). For example, the roboticsystem 10 can be equal to or greater than about 40%, 50%, 60%, 80%.100%, 150% or 175% longer from the contracted configuration to theexpanded configurations of the robotic system 10. As shown by Figures 6e and 6 f, if the length of the mobility assistance devices 300 is longenough, the robotic system 10 can be equal to or greater than about 200%longer from the contracted configuration to the expanded configurationsof the robotic system 10. The extended length of both flippers 301 canenable the robotic system 10 to climb stairs. As shown in FIG. 28, atleast one, or a pair of the (e.g., front) flippers 301 may be rotated,as shown by arrows 50, to a higher angle to enable the robotic system 10to climb an obstacle while the other (e.g., rear) flippers may be foldedor extended. As shown in FIG. 29, the robotic system 10, may be elevatedoff of a surface 372 when both flippers 301 are rotated to point down.This functionality may be useful for navigating terrains with pressuresensitive or hostile conditions, such as chemical spills, minefields, orany other hazardous terrain, or to raise the chassis of the system 10above the surface, such as when passing through water obstacles (e.g.,ponds, puddles, moats, streams, rivers).

FIG. 30 a illustrates that the outer wheel 224, 225, or 324 (shown asouter wheel 224 for illustrative purposes) can have a scaffold orhoneycomb structure. The outer wheel 224 can have a wheel outer wall388. The wheel outer wall 388 can engage and drive or be driven by themobility device track 210.

The outer wheel 224 can have one, two, three, four, or more concentricwheel angular walls 380. The wheel angular walls 380 can have a constantradius and form a partial or complete circle and/or cylinder around thecenter of the pulley 220.

The outer wheel 224 can have from about 3 to about 50, for example about16 wheel radial walls 382. The wheel radial walls 382 can extendsubstantially radially from the inner wheel 222 to the wheel outer wall388. The wheel radial walls 382 can extend from each wheel angular wall380 at the same or opposite (e.g., negative instead of positive) angles.

The wheel radial walls 382 and wheel angular walls 380 can define wheelcells 384.

The track drive pulley 220 can rotate as shown by arrows 390. The trackdrive pulley 220 can be actively driven by an axle or shaft, or bepassively driven by the mobility device track 210. The mobility devicetrack 210 can move as shown by arrows 392. The mobility device track 210can be driven by the first track drive pulley 220 (shown), and/or by thetrack drive pulley 221 (not shown).

FIG. 30 b illustrates that a piece of debris 386 can move, as shown byarrow 394, as pushed by the mobility device track 210 (as shown) and/orthe track drive pulley 220, toward the space between the mobility devicetrack 210 and the track drive pulley 220. The debris 386 can have adiameter or maximum width up to about 5 cm (2 in.), for example greaterthan about 0.2 cm (0.08 in.), or as large as about 2 cm (1 in.), withoutcausing any damage or untracking the track 210 or 310.

FIG. 30 c illustrates that the debris 386 can be pinched between thewheel outer wall 388 and the mobility device track 210. If the piece ofdebris 386 is slippery enough or properly shaped, the pressure on thedebris 386 between the wheel outer wall 388 and the mobility devicetrack 210 can force the piece of debris 386 back out of the spacebetween the track 210 and the wheel outer wall 388, in the directionfrom which the debris 386 entered the space between the track 210 andthe wheel outer wall 388.

If the debris 386 passes between the mobility device track 210 and thewheel outer wall 388, the wheel outer wall 388 can deform to accommodatethe shape of the debris 386. The wheel outer wall 388 can deform along alength of the single wheel cell 384 impacted by the debris 386. Thedeformation resulting from accommodating the debris 386 can be limitedto the wheel outer wall 388 along the length of the impacted wheel cell384. For example, the wheel angular wall forming the radially inner wallof the wheel cell 384 can remain substantially undeformed. Thedeformation can be isolated to the wheel cell 384.

The depression 213 on the inner side of the mobility device track 210can partially or completely accommodate the debris 386. The wheel cell384 can also partially or completely accommodate the debris 386 insidethe wheel cell 384, and the debris 386 may be forced out of the wheelcell 384 by an impact or stress on the outer wheel 224.

FIG. 30 d illustrates that the mobility device track 210 and the wheelouter wall 388 can compress and contain the debris 386. The debris 386can travel around the track drive pulley 220. The mobility device track210 can deform along a deformed track length 396 adjacent to the debris386. For example, the deformed track length 396 can extend about thelength of the deformed wheel cell 384. The pocket formed to hold thedebris 386 can have the same size as the debris 386, for example adiameter or maximum width up to about 5 cm (2 in.), for example greaterthan about 0.2 cm (0.08 in.), or as large as about 2 cm (1 in.), withoutcausing any damage or untracking the track 210 or 310.

FIG. 30 e illustrates that when the debris 386 exits from the gapbetween the track drive pulley 220 and the mobility device track 210,the debris 386 can fall out from the mobility device 200 or be shotaway, as shown by arrow 394, from the mobility device 200 by thepressure squeezing the debris 386 between the mobility device track 210and the wheel outer wall 388. The deformed portion of the wheel cell 384can return to a non-deformed configuration.

FIG. 31 a illustrates that the track can be made from a track firstmaterial 398 a and a track second material 398 b. The track firstmaterial 398 a can be softer, less rigid, harder, more rigid, have alower or higher coefficient of friction than the track second material398 b. or combinations thereof. The track materials 398 can be selectedfrom any of the materials described herein and combinations thereof. Thefirst track material 398 a can be on the outside (i.e., groundsurface-facing side) of the track. The second track material 398 b canbe on the inside (i.e., pulley-facing side) of the track. The firstmaterial 298 a can be bonded. fused, welded, melted, glued, coated, orotherwise fixed to the second material 298 b.

FIG. 31 b illustrates that the track can be made from the first material398 a on one or both lateral sides of the track. The track can be madefrom the second material 398 b between the lateral side of the track(e.g., laterally medial), or otherwise laterally adjacent to the firstmaterial 298 a.

FIG. 31 c illustrates that the track can have a core made from thesecond material 398 b. The core can be partially or completelysurrounded by a coating or layer of the first material 398 a. The nubscan be made from the first and/or second material 398 a and/or 398 b.

The tracks 210 and/or 310 can be removed from any of the flippers 301and/or any of the mobility devices 200. The robotic system 10 can beoperated with one, two, three or four flippers 310 and/or one or twomobility devices 200 operating without tracks 310 and 210.

As a person skilled in the art will recognize from the previous detaileddescription and from the figures and claims, modifications and changescan be made to the variations of the invention without departing fromthe scope of this invention defined in the following claims. More thanone range or example of quantities can be provided for a characteristicas alternative contemplated ranges and examples. Elements,characteristics and configurations of the various variations of thedisclosure can be combined with one another and/or used in plural whendescribed in singular or used in plural when described singularly.

We claim:
 1. A robotic vehicle system comprising: a body; a first trackattached to the body and configured to move the body, wherein the firsttrack has a first track longitudinal axis; a second track configured tomore move the body, wherein the second track has a second tracklongitudinal axis; wherein the first track longitudinal axis is at atrack angle with respect to the second track longitudinal axis, andwherein the first track and second track have a toed-in configuration,wherein the track angle is from 0.5° to 10°.
 2. The system of claim 1,Wherein the track angle is from 1° to 5°.
 3. The system of claim 1,wherein the track angle is 3°.
 4. The system of claim 1, furthercomprising a bolt configured to adjust the track angle.
 5. The system ofclaim 1, further comprising a motor configured to adjust the trackangle.
 6. The system of claim 1, further comprising a solenoidconfigured to adjust the track angle.
 7. The system of claim 1, whereinthe body has a body plane, and wherein the first track is configured torotate out of plane with the body plane.
 8. A robotic vehicle systemcomprising: a body having a body longitudinal axis; a first trackconfigured to move the body, wherein the first track has a first tracklongitudinal axis; wherein the first track longitudinal axis is at abody angle with respect to the body longitudinal axis, and wherein thebody angle is from 0.25° to 5°.
 9. The system of claim 8, wherein thebody angle is from 0.5° to 2.5°.
 10. The system of claim
 8. wherein thebody angle is 1.5°.
 11. The system of claim 8, further comprising a boltto adjust the body angle.
 12. The system of claim 8, further comprisinga motor configured to adjust the track half-angle.
 13. The system ofclaim 8, further comprising a solenoid configured to adjust the trackhalf-angle.
 14. A robotic vehicle system comprising: a body having abody longitudinal axis; a first track attached to the body; a firstflipper having a flipper longitudinal axis; and wherein a body angle isbetween the body longitudinal axis and the first flipper longitudinalaxis, and wherein the body angle is from 0° to 180°.
 15. The system ofclaim 14, wherein the body angle is from 5′ to 15°.
 16. The system ofclaim 14, wherein the body angle is 10°.
 17. The system of claim 14,wherein the first flipper is configured to be rotatable of a plane ofthe body.
 18. The system of claim 14, further comprising a secondflipper.
 19. The system of claim 14, further comprising a second trackattached to the body.
 20. The system of claim 14, wherein the firsttrack is on the first flipper